Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 339 * 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 339 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 300 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 12 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 -2085079.5 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 0 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 300

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 -2085079.5

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 12 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 0 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 339 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 060938,6245.247,-556.805,31,1.3,31,-8.0 TGT_NAME FC1K

_CALLS 1 TGT_LATLONG 6247.000,-415.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.197,0.101

_SM_DEPTHo 1.38 KALMAN_X 85659.8,-1533.0,-543.7,82631.5,15564.0

_SM_ANGLEo -56.5 KALMAN_Y -12866.9,1785.4,422.3,134651.3,-34520.2

GPS2 061509,6245.186,-556.806,16,1.7,16,-8.0 MHEAD_RNG_PITCHd_Wd 95.8,86298,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027457 ALTIM_BOTTOM_PING 326.3,102.7

SM_CCo 11501,0.00,0.000,0,0,1548,311.04 _24V_AH 23.6,53.359

SM_GC 1.43,11.45,0.00,0.00,0.054,0.000,0.000,69,2399,1548,-10.69,0.00,311.04 _10V_AH 10.2,27.685

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28526,545

TT8_MAMPS 0.02301 CFSIZE 260165632,240644096

HUMID 2108 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 16.70 GPS 150108,092925,6244.905,-554.396,70,1.6,70,-8.0

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 170 102.37 SBE_CT 392 24 222.12

Roll_motor 112 84 224.55 SBE_O2 376 19 168.69

VBD_pump_during_apogee 373 961 8462.77 WL_BB2F 407 105 1009.84

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 32 103 79.21 nil 0 0 0.00

Iridium_during_connect 34 160 128.90 nil 0 0 0.00

Iridium_during_xfer 156 223 824.55

Transponder_ping 3 420 29.74

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.26

TT8 1025 19 207.19

LPSleep 8695 2 194.23

TT8_Active 475 19 96.04

TT8_Sampling 1226 39 498.01

TT8_CF8 413 45 193.12

TT8_Kalman 33 81 27.84

Analog_circuits 1110 12 135.90

GPS_charging 0 0 0.00

Compass 1202 8 98.09

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.85 -146.6 0.0 0.0 0 85 0.00 0.00 -61.05 0.000 2 0.000 0.000 72 2402 3068

88 -0.85 -146.6 3.1 -4.0 3 115 12.07 2.70 -8.35 0.000 4 0.170 0.081 2220 979 3417

242 -0.85 -146.6 19.9 -8.6 10 247 0.00 2.65 0.00 0.000 6 0.000 0.060 2220 2407 3417

570 -0.85 -146.6 51.5 -7.4 26 572 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2407 3417

879 -0.85 -146.6 72.9 -5.9 41 883 0.00 2.70 0.00 0.000 4 0.000 0.072 2220 978 3417

919 -0.85 -146.6 75.8 -7.7 43 923 0.00 2.62 0.00 0.000 6 0.000 0.061 2220 2398 3417

1245 -0.85 -146.6 98.4 -6.7 59 1246 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2398 3417

1554 -0.85 -146.6 122.3 -9.4 74 1555 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2398 3417

1865 -0.85 -146.6 150.7 -7.8 89 1869 0.00 2.67 0.00 0.000 4 0.000 0.074 2220 974 3417

1914 -0.85 -146.6 154.8 -8.0 91 1918 0.00 2.62 0.00 0.000 6 0.000 0.062 2220 2401 3417

2230 -0.85 -146.6 181.6 -8.9 106 2231 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3417

2541 -0.85 -146.6 209.2 -8.4 121 2546 0.00 2.70 0.00 0.000 4 0.000 0.076 2220 974 3418

2576 -0.85 -146.6 212.4 -8.1 122 2582 0.00 2.65 0.00 0.000 6 0.000 0.064 2220 2401 3417

2891 -0.85 -146.6 239.0 -8.0 138 2892 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3417

3201 -0.85 -146.6 262.5 -7.7 153 3205 0.00 2.67 0.00 0.000 4 0.000 0.075 2220 975 3417

3284 -0.85 -146.6 269.1 -6.9 157 3289 0.00 2.65 0.00 0.000 6 0.000 0.064 2220 2404 3417

3611 -0.85 -146.6 292.1 -7.2 173 3612 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3417

3921 -0.85 -146.6 314.9 -7.1 188 3925 0.00 2.70 0.00 0.000 4 0.000 0.074 2220 975 3417

3970 -0.85 -146.6 318.6 -7.7 190 3974 0.00 2.62 0.00 0.000 6 0.000 0.061 2220 2411 3417

4285 -0.85 -146.6 340.3 -6.7 205 4286 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2411 3417

4595 -0.85 -146.6 358.6 -6.1 220 4596 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2411 3417

4904 -0.85 -146.6 377.8 -6.7 235 4908 0.00 2.70 0.00 0.000 4 0.000 0.071 2220 970 3417

4970 -0.85 -146.6 382.7 -7.0 238 4974 0.00 2.62 0.00 0.000 6 0.000 0.061 2220 2400 3417

5291 -0.85 -146.6 407.0 -7.7 254 5295 0.00 2.67 0.00 0.000 4 0.000 0.073 2220 976 3417

5375 -0.85 -146.6 413.2 -7.5 258 5379 0.00 2.62 0.00 0.000 6 0.000 0.062 2220 2400 3417

5451 end dive: BOTTOM_OBSTACLE_DETECTED

state 5451 begin apogee

5457 -0.31 0.0 419.0 7.1 262 5580 0.60 0.00 119.75 0.961 6 0.107 0.000 2340 2188 2816

5581 end apogee: CONTROL_FINISHED_OK

state 5581 begin climb

5584 0.85 146.6 423.3 0.0 268 5710 1.23 2.75 116.97 0.949 4 0.094 0.071 2589 787 2219

5728 0.87 165.8 419.4 5.5 275 5750 0.00 2.65 17.02 0.860 6 0.000 0.054 2589 2203 2140

6060 0.88 181.9 402.0 5.6 291 6081 0.00 2.75 14.07 0.851 4 0.000 0.083 2589 3614 2074

6114 0.88 181.9 398.5 7.0 293 6119 0.00 2.70 0.00 0.000 6 0.000 0.071 2589 2205 2074

6430 0.88 181.9 381.3 6.1 308 6434 0.00 2.70 0.00 0.000 4 0.000 0.077 2589 781 2073

6496 0.88 181.9 376.7 7.5 311 6501 0.00 2.62 0.00 0.000 6 0.000 0.057 2589 2199 2072

6817 0.88 181.9 356.0 6.6 327 6822 0.00 2.72 0.00 0.000 4 0.000 0.084 2589 3616 2072

6845 0.88 181.9 354.2 7.1 328 6850 0.00 2.67 0.00 0.000 6 0.000 0.071 2589 2199 2072

7161 0.88 181.9 333.6 6.1 343 7165 0.00 2.70 0.00 0.000 4 0.000 0.075 2589 775 2071

7210 0.88 181.9 330.4 6.5 345 7214 0.00 2.62 0.00 0.000 6 0.000 0.056 2589 2200 2071

7526 0.90 196.0 311.6 5.6 360 7540 0.00 0.00 12.30 0.823 6 0.000 0.000 2589 2200 2017

7835 0.90 196.0 297.4 9.5 375 7840 0.00 2.70 0.00 0.000 4 0.000 0.076 2589 778 2016

7867 0.90 196.0 293.8 11.7 376 7874 0.00 2.62 0.00 0.000 6 0.000 0.053 2589 2204 2015

8183 0.90 196.0 267.4 8.9 392 8184 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2204 2015

8493 0.92 213.4 244.4 5.5 407 8513 0.00 2.75 15.05 0.795 4 0.000 0.077 2589 3614 1945

8524 0.92 213.4 242.1 7.1 408 8529 0.00 2.70 0.00 0.000 6 0.000 0.067 2589 2194 1946

8840 0.94 229.2 219.7 5.6 423 8860 0.12 0.00 14.00 0.770 6 0.063 0.000 2623 2194 1882

9170 1.02 310.2 200.7 3.8 439 9239 0.00 2.72 63.95 0.806 4 0.000 0.074 2623 785 1551

9278 1.02 310.2 194.0 6.2 444 9282 0.00 2.62 0.00 0.000 6 0.000 0.052 2623 2201 1550

9593 1.02 310.2 173.4 6.3 459 9598 0.00 2.67 0.00 0.000 4 0.000 0.071 2623 779 1550

9637 1.02 310.2 170.1 7.7 461 9642 0.00 2.60 0.00 0.000 6 0.000 0.051 2623 2202 1548

9959 1.02 310.2 143.9 8.3 477 9964 0.00 2.70 0.00 0.000 4 0.000 0.076 2623 785 1549

9986 1.02 310.2 140.8 10.0 478 9991 0.00 2.60 0.00 0.000 6 0.000 0.051 2623 2203 1549

10303 1.02 310.2 100.4 11.9 493 10307 0.00 2.70 0.00 0.000 4 0.000 0.073 2624 779 1549

10352 1.02 310.2 96.2 8.0 495 10357 0.00 2.60 0.00 0.000 6 0.000 0.051 2623 2200 1549

10668 1.02 310.2 65.2 11.5 510 10672 0.00 2.67 0.00 0.000 4 0.000 0.072 2623 784 1549

10718 1.02 310.2 60.0 9.5 512 10723 0.00 2.58 0.00 0.000 6 0.000 0.051 2623 2199 1549

11034 1.02 310.2 29.1 12.0 527 11038 0.00 2.67 0.00 0.000 4 0.000 0.072 2623 782 1549

11083 1.02 310.2 25.0 6.6 529 11087 0.00 2.58 0.00 0.000 6 0.000 0.050 2623 2200 1549

11396 end climb: SURFACE_DEPTH_REACHED

state 11397 begin surface coast

11418 end surface coast: CONTROL_FINISHED_OK

state 11418 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	339	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	300	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	12	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	-2085079.5	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	0	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	060938,6245.247,-556.805,31,1.3,31,-8.0	TGT_NAME	FC1K
_CALLS	1	TGT_LATLONG	6247.000,-415.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.197,0.101
_SM_DEPTHo	1.38	KALMAN_X	85659.8,-1533.0,-543.7,82631.5,15564.0
_SM_ANGLEo	-56.5	KALMAN_Y	-12866.9,1785.4,422.3,134651.3,-34520.2
GPS2	061509,6245.186,-556.806,16,1.7,16,-8.0	MHEAD_RNG_PITCHd_Wd	95.8,86298,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.027457	ALTIM_BOTTOM_PING	326.3,102.7
SM_CCo	11501,0.00,0.000,0,0,1548,311.04	_24V_AH	23.6,53.359
SM_GC	1.43,11.45,0.00,0.00,0.054,0.000,0.000,69,2399,1548,-10.69,0.00,311.04	_10V_AH	10.2,27.685
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28526,545
TT8_MAMPS	0.02301	CFSIZE	260165632,240644096
HUMID	2108	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	16.70	GPS	150108,092925,6244.905,-554.396,70,1.6,70,-8.0
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	170	102.37	SBE_CT	392	24	222.12
Roll_motor	112	84	224.55	SBE_O2	376	19	168.69
VBD_pump_during_apogee	373	961	8462.77	WL_BB2F	407	105	1009.84
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	32	103	79.21	nil	0	0	0.00
Iridium_during_connect	34	160	128.90	nil	0	0	0.00
Iridium_during_xfer	156	223	824.55
Transponder_ping	3	420	29.74
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.26
TT8	1025	19	207.19
LPSleep	8695	2	194.23
TT8_Active	475	19	96.04
TT8_Sampling	1226	39	498.01
TT8_CF8	413	45	193.12
TT8_Kalman	33	81	27.84
Analog_circuits	1110	12	135.90
GPS_charging	0	0	0.00
Compass	1202	8	98.09
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.85	-146.6	0.0	0.0	0	85	0.00	0.00	-61.05	0.000	2	0.000	0.000	72	2402	3068
88	-0.85	-146.6	3.1	-4.0	3	115	12.07	2.70	-8.35	0.000	4	0.170	0.081	2220	979	3417
242	-0.85	-146.6	19.9	-8.6	10	247	0.00	2.65	0.00	0.000	6	0.000	0.060	2220	2407	3417
570	-0.85	-146.6	51.5	-7.4	26	572	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2407	3417
879	-0.85	-146.6	72.9	-5.9	41	883	0.00	2.70	0.00	0.000	4	0.000	0.072	2220	978	3417
919	-0.85	-146.6	75.8	-7.7	43	923	0.00	2.62	0.00	0.000	6	0.000	0.061	2220	2398	3417
1245	-0.85	-146.6	98.4	-6.7	59	1246	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2398	3417
1554	-0.85	-146.6	122.3	-9.4	74	1555	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2398	3417
1865	-0.85	-146.6	150.7	-7.8	89	1869	0.00	2.67	0.00	0.000	4	0.000	0.074	2220	974	3417
1914	-0.85	-146.6	154.8	-8.0	91	1918	0.00	2.62	0.00	0.000	6	0.000	0.062	2220	2401	3417
2230	-0.85	-146.6	181.6	-8.9	106	2231	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3417
2541	-0.85	-146.6	209.2	-8.4	121	2546	0.00	2.70	0.00	0.000	4	0.000	0.076	2220	974	3418
2576	-0.85	-146.6	212.4	-8.1	122	2582	0.00	2.65	0.00	0.000	6	0.000	0.064	2220	2401	3417
2891	-0.85	-146.6	239.0	-8.0	138	2892	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3417
3201	-0.85	-146.6	262.5	-7.7	153	3205	0.00	2.67	0.00	0.000	4	0.000	0.075	2220	975	3417
3284	-0.85	-146.6	269.1	-6.9	157	3289	0.00	2.65	0.00	0.000	6	0.000	0.064	2220	2404	3417
3611	-0.85	-146.6	292.1	-7.2	173	3612	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3417
3921	-0.85	-146.6	314.9	-7.1	188	3925	0.00	2.70	0.00	0.000	4	0.000	0.074	2220	975	3417
3970	-0.85	-146.6	318.6	-7.7	190	3974	0.00	2.62	0.00	0.000	6	0.000	0.061	2220	2411	3417
4285	-0.85	-146.6	340.3	-6.7	205	4286	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2411	3417
4595	-0.85	-146.6	358.6	-6.1	220	4596	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2411	3417
4904	-0.85	-146.6	377.8	-6.7	235	4908	0.00	2.70	0.00	0.000	4	0.000	0.071	2220	970	3417
4970	-0.85	-146.6	382.7	-7.0	238	4974	0.00	2.62	0.00	0.000	6	0.000	0.061	2220	2400	3417
5291	-0.85	-146.6	407.0	-7.7	254	5295	0.00	2.67	0.00	0.000	4	0.000	0.073	2220	976	3417
5375	-0.85	-146.6	413.2	-7.5	258	5379	0.00	2.62	0.00	0.000	6	0.000	0.062	2220	2400	3417
5451	end dive: BOTTOM_OBSTACLE_DETECTED
state	5451	begin apogee
5457	-0.31	0.0	419.0	7.1	262	5580	0.60	0.00	119.75	0.961	6	0.107	0.000	2340	2188	2816
5581	end apogee: CONTROL_FINISHED_OK
state	5581	begin climb
5584	0.85	146.6	423.3	0.0	268	5710	1.23	2.75	116.97	0.949	4	0.094	0.071	2589	787	2219
5728	0.87	165.8	419.4	5.5	275	5750	0.00	2.65	17.02	0.860	6	0.000	0.054	2589	2203	2140
6060	0.88	181.9	402.0	5.6	291	6081	0.00	2.75	14.07	0.851	4	0.000	0.083	2589	3614	2074
6114	0.88	181.9	398.5	7.0	293	6119	0.00	2.70	0.00	0.000	6	0.000	0.071	2589	2205	2074
6430	0.88	181.9	381.3	6.1	308	6434	0.00	2.70	0.00	0.000	4	0.000	0.077	2589	781	2073
6496	0.88	181.9	376.7	7.5	311	6501	0.00	2.62	0.00	0.000	6	0.000	0.057	2589	2199	2072
6817	0.88	181.9	356.0	6.6	327	6822	0.00	2.72	0.00	0.000	4	0.000	0.084	2589	3616	2072
6845	0.88	181.9	354.2	7.1	328	6850	0.00	2.67	0.00	0.000	6	0.000	0.071	2589	2199	2072
7161	0.88	181.9	333.6	6.1	343	7165	0.00	2.70	0.00	0.000	4	0.000	0.075	2589	775	2071
7210	0.88	181.9	330.4	6.5	345	7214	0.00	2.62	0.00	0.000	6	0.000	0.056	2589	2200	2071
7526	0.90	196.0	311.6	5.6	360	7540	0.00	0.00	12.30	0.823	6	0.000	0.000	2589	2200	2017
7835	0.90	196.0	297.4	9.5	375	7840	0.00	2.70	0.00	0.000	4	0.000	0.076	2589	778	2016
7867	0.90	196.0	293.8	11.7	376	7874	0.00	2.62	0.00	0.000	6	0.000	0.053	2589	2204	2015
8183	0.90	196.0	267.4	8.9	392	8184	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2204	2015
8493	0.92	213.4	244.4	5.5	407	8513	0.00	2.75	15.05	0.795	4	0.000	0.077	2589	3614	1945
8524	0.92	213.4	242.1	7.1	408	8529	0.00	2.70	0.00	0.000	6	0.000	0.067	2589	2194	1946
8840	0.94	229.2	219.7	5.6	423	8860	0.12	0.00	14.00	0.770	6	0.063	0.000	2623	2194	1882
9170	1.02	310.2	200.7	3.8	439	9239	0.00	2.72	63.95	0.806	4	0.000	0.074	2623	785	1551
9278	1.02	310.2	194.0	6.2	444	9282	0.00	2.62	0.00	0.000	6	0.000	0.052	2623	2201	1550
9593	1.02	310.2	173.4	6.3	459	9598	0.00	2.67	0.00	0.000	4	0.000	0.071	2623	779	1550
9637	1.02	310.2	170.1	7.7	461	9642	0.00	2.60	0.00	0.000	6	0.000	0.051	2623	2202	1548
9959	1.02	310.2	143.9	8.3	477	9964	0.00	2.70	0.00	0.000	4	0.000	0.076	2623	785	1549
9986	1.02	310.2	140.8	10.0	478	9991	0.00	2.60	0.00	0.000	6	0.000	0.051	2623	2203	1549
10303	1.02	310.2	100.4	11.9	493	10307	0.00	2.70	0.00	0.000	4	0.000	0.073	2624	779	1549
10352	1.02	310.2	96.2	8.0	495	10357	0.00	2.60	0.00	0.000	6	0.000	0.051	2623	2200	1549
10668	1.02	310.2	65.2	11.5	510	10672	0.00	2.67	0.00	0.000	4	0.000	0.072	2623	784	1549
10718	1.02	310.2	60.0	9.5	512	10723	0.00	2.58	0.00	0.000	6	0.000	0.051	2623	2199	1549
11034	1.02	310.2	29.1	12.0	527	11038	0.00	2.67	0.00	0.000	4	0.000	0.072	2623	782	1549
11083	1.02	310.2	25.0	6.6	529	11087	0.00	2.58	0.00	0.000	6	0.000	0.050	2623	2200	1549
11396	end climb: SURFACE_DEPTH_REACHED
state	11397	begin surface coast
11418	end surface coast: CONTROL_FINISHED_OK
state	11418	begin surface