Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 104 HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 20

MISSION 4 HD_C 2.5700001e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 10 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 176 ALTIM_PING_DEPTH 150

D_TGT 600 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3929 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2052 ALTIM_FREQUENCY 13

D_NO_BLEED 100 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 2052 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 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 -1.784981

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 12 DEVICE1 2

T_DIVE 200 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 240 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 607 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3934 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2915 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 5 VBD_TIMEOUT 360 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -35210.438 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

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 45 AH0_24V 91.800003 SEABIRD_T_G 0.0043062796

SPEED_FACTOR 1 PITCH_MAX 3331 AH0_10V 61.200001 SEABIRD_T_H 0.0006289829

RHO 1.023 C_PITCH 2450 PRESSURE_YINT -16.564281 SEABIRD_T_I 2.2033064e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.057111e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.442612

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1821688

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015124022

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022414648

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 100 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3331 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 45 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 600 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -16.564281 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -8.75

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 200

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_GPS_CHARGE -35210.438

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 240

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

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

COURSE_BIAS 0 ID 104 ROLL_MAX 3929 T_TURN_SAMPINT 5

C_PITCH 2450 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 12 T_WATCHDOG 10

C_ROLL_CLIMB 2052 INT_PRESSURE_YINT -1.784981 ROLL_MIN 176 UNCOM_BLEED 20

C_ROLL_DIVE 2052 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2915 MASS 52000 R_PORT_OVSHOOT 22 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 28 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.442612 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1821688 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015124022 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00022414648 VBD_MAX 3934

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043062796 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006289829 VBD_MIN 607

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2033064e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 10 PHONE_DEVICE 48 SEABIRD_T_J 2.057111e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 160428,6132.532,-252.041,25,4.2,44,-6.0 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.258,-0.056

_SM_DEPTHo 1.13 KALMAN_X 32057.1,-1768.6,-309.5,-14568.3,10405.6

_SM_ANGLEo -61.5 KALMAN_Y -2225.0,-180.2,222.2,-410.6,170.6

GPS2 160915,6132.588,-251.769,10,1.9,10,-6.0 MHEAD_RNG_PITCHd_Wd 263.8,336721,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 600

Post-dive calculations and measurements:

FINISH 0.4,1.003720 XPDR_PINGS 1

SM_CCo 11660,67.78,0.670,2,0,1691,300.00 ALTIM_TOP_PING 19.5,18.8

SM_GC 0.90,0.00,0.00,67.78,0.000,0.000,0.670,43,2048,1691,-11.07,-0.11,300.00 _24V_AH 23.1,4.327

IRIDIUM_FIX 6108.28,-256.02,110597,131305 _10V_AH 10.1,2.267

TT8_MAMPS 0.026845 DATA_FILE_SIZE 28570,557

HUMID 1718 CFSIZE 260165632,256675840

INTERNAL_PRESSURE 8.39119 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,2,0

TCM_TEMP 15.90 GPS 150208,192702,6131.853,-247.876,38,1.5,38,-5.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 98.93 SBE_CT 409 24 227.24

Roll_motor 105 70 171.52 SBE_O2 375 19 164.66

VBD_pump_during_apogee 274 1149 7297.70 WL_BB2F 415 105 1006.63

VBD_pump_during_surface 67 669 1048.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 89.74 nil 0 0 0.00

Iridium_during_connect 37 160 138.28 nil 0 0 0.00

Iridium_during_xfer 121 223 626.05

Transponder_ping 5 420 50.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.28

TT8 1076 19 215.21

LPSleep 8700 2 192.45

TT8_Active 479 19 95.82

TT8_Sampling 1399 39 562.41

TT8_CF8 383 45 177.29

TT8_Kalman 33 81 27.57

Analog_circuits 1165 12 141.24

GPS_charging 0 0 0.00

Compass 1376 8 111.25

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

23 -1.39 -146.6 0.0 0.0 0 120 0.00 0.00 -94.60 0.000 6 0.000 0.000 45 2058 3514

123 -1.39 -146.6 2.5 -2.3 4 137 11.90 0.00 0.00 0.000 6 0.159 0.000 2142 2056 3516

454 -1.39 -146.6 47.4 -10.5 20 459 0.00 2.58 0.00 0.000 4 0.000 0.059 2142 644 3517

549 -1.39 -146.6 58.4 -11.3 24 553 0.00 2.42 0.00 0.000 6 0.000 0.037 2142 2052 3517

865 -1.39 -146.6 94.1 -11.0 39 869 0.00 2.58 0.00 0.000 4 0.000 0.061 2142 643 3517

973 -1.39 -146.6 106.6 -11.1 44 977 0.00 2.42 0.00 0.000 6 0.000 0.036 2142 2052 3517

1300 -1.39 -146.6 143.0 -11.4 60 1304 0.00 2.55 0.00 0.000 4 0.000 0.060 2142 648 3518

1388 -1.39 -146.6 154.0 -12.2 64 1393 0.00 2.42 0.00 0.000 6 0.000 0.037 2142 2059 3517

1710 -1.39 -146.6 190.0 -11.4 80 1714 0.00 2.58 0.00 0.000 4 0.000 0.061 2142 644 3518

1799 -1.39 -146.6 200.8 -12.2 84 1803 0.00 2.42 0.00 0.000 6 0.000 0.037 2142 2053 3518

2120 -1.39 -146.6 235.4 -10.8 100 2124 0.00 2.55 0.00 0.000 4 0.000 0.061 2142 648 3518

2191 -1.39 -146.6 243.2 -10.6 103 2195 0.00 2.42 0.00 0.000 6 0.000 0.038 2142 2061 3518

2513 -1.39 -146.6 274.7 -9.9 119 2518 0.00 2.58 0.00 0.000 4 0.000 0.061 2142 645 3518

2596 -1.39 -146.6 283.8 -10.9 122 2602 0.00 2.42 0.00 0.000 6 0.000 0.038 2142 2056 3518

2911 -1.39 -146.6 317.5 -10.8 138 2915 0.00 2.55 0.00 0.000 4 0.000 0.061 2142 648 3518

2980 -1.39 -146.6 325.3 -11.6 141 2984 0.00 2.42 0.00 0.000 6 0.000 0.038 2142 2053 3518

3301 -1.39 -146.6 358.7 -9.9 157 3305 0.00 2.55 0.00 0.000 4 0.000 0.061 2142 649 3517

3367 -1.39 -146.6 365.4 -9.6 160 3372 0.00 2.42 0.00 0.000 6 0.000 0.038 2142 2053 3517

3690 -1.39 -146.6 395.7 -9.2 176 3694 0.00 2.55 0.00 0.000 4 0.000 0.061 2142 650 3517

3745 -1.39 -146.6 401.2 -9.6 178 3751 0.00 2.42 0.00 0.000 6 0.000 0.038 2142 2054 3517

4060 -1.39 -146.6 433.1 -11.2 194 4064 0.00 2.55 0.00 0.000 4 0.000 0.062 2142 649 3517

4126 -1.39 -146.6 440.5 -10.4 197 4130 0.00 2.42 0.00 0.000 6 0.000 0.039 2142 2058 3517

4448 -1.39 -146.6 470.9 -9.8 213 4449 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2058 3517

4756 -1.39 -146.6 502.8 -10.6 228 4761 0.00 2.58 0.00 0.000 4 0.000 0.064 2142 649 3516

4851 -1.39 -146.6 513.1 -10.7 232 4855 0.00 2.42 0.00 0.000 6 0.000 0.041 2142 2051 3515

5167 -1.39 -146.6 544.5 -9.7 247 5171 0.00 2.58 0.00 0.000 4 0.000 0.065 2142 646 3514

5246 -1.39 -146.6 552.5 -10.1 250 5252 0.00 2.45 0.00 0.000 6 0.000 0.043 2142 2051 3514

5562 -1.39 -146.6 583.2 -9.6 266 5563 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2051 3513

5745 end dive: TARGET_DEPTH_EXCEEDED

state 5745 begin apogee

5751 -0.33 0.0 600.2 9.1 275 5877 1.15 0.00 123.28 1.150 6 0.094 0.000 2373 2052 2915

5878 end apogee: CONTROL_FINISHED_OK

state 5878 begin climb

5881 1.39 146.6 604.3 0.0 281 6012 1.75 2.62 122.93 1.107 4 0.060 0.062 2750 3455 2316

6183 1.39 146.6 582.6 10.4 295 6187 0.00 2.50 0.00 0.000 6 0.000 0.047 2749 2052 2316

6510 1.39 146.6 548.2 10.7 311 6515 0.00 2.58 0.00 0.000 4 0.000 0.061 2749 3459 2314

6605 1.39 146.6 537.4 11.2 315 6609 0.00 2.53 0.00 0.000 6 0.000 0.047 2750 2046 2314

6921 1.39 146.6 505.2 10.2 330 6925 0.00 2.60 0.00 0.000 4 0.000 0.071 2750 649 2314

6947 1.39 146.6 502.2 10.9 331 6951 0.00 2.45 0.00 0.000 6 0.000 0.043 2750 2054 2313

7268 1.39 146.6 468.1 10.5 347 7269 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2055 2312

7578 1.40 160.6 438.0 9.4 362 7599 0.00 2.65 12.05 1.022 4 0.000 0.062 2750 3454 2260

7622 1.40 160.6 433.5 10.3 364 7626 0.00 2.50 0.00 0.000 6 0.000 0.045 2750 2051 2260

7948 1.40 160.6 396.6 12.3 380 7952 0.00 2.55 0.00 0.000 4 0.000 0.059 2750 3455 2260

8032 1.40 160.6 386.0 12.5 384 8036 0.00 2.47 0.00 0.000 6 0.000 0.044 2750 2051 2260

8364 1.40 160.6 349.2 11.0 400 8365 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2051 2260

8673 1.40 160.6 315.2 11.1 415 8674 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2051 2260

8983 1.40 160.6 282.2 10.2 430 8987 0.00 2.53 0.00 0.000 4 0.000 0.054 2750 3455 2260

9027 1.40 160.6 277.4 11.1 432 9031 0.00 2.45 0.00 0.000 6 0.000 0.040 2750 2047 2260

9353 1.40 160.6 244.4 10.1 448 9354 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2047 2261

9663 1.40 160.6 212.8 10.2 463 9667 0.00 2.53 0.00 0.000 4 0.000 0.054 2750 3457 2261

9712 1.40 160.6 207.5 10.6 465 9716 0.00 2.45 0.00 0.000 6 0.000 0.038 2749 2047 2262

10028 1.42 170.7 176.7 9.5 480 10042 0.00 2.55 10.00 0.797 4 0.000 0.052 2750 3455 2219

10160 1.42 170.7 162.5 10.9 485 10164 0.00 2.45 0.00 0.000 6 0.000 0.038 2750 2050 2219

10482 1.42 170.7 127.2 11.1 501 10483 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2050 2220

10791 1.42 176.0 95.1 9.8 516 10800 0.00 0.00 6.53 0.678 6 0.000 0.000 2749 2050 2197

11101 1.42 176.0 61.0 11.6 531 11102 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2050 2197

11410 1.42 176.0 24.8 11.4 546 11414 0.00 2.50 0.00 0.000 4 0.000 0.051 2750 3455 2198

11482 1.42 176.0 16.0 12.2 549 11486 0.00 2.45 0.00 0.000 6 0.000 0.039 2750 2050 2198

11615 end climb: SURFACE_DEPTH_REACHED

state 11616 begin surface coast

11638 end surface coast: CONTROL_FINISHED_OK

state 11638 begin surface

ID	104	HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	20
MISSION	4	HD_C	2.5700001e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	10	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	176	ALTIM_PING_DEPTH	150
D_TGT	600	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3929	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2052	ALTIM_FREQUENCY	13
D_NO_BLEED	100	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	2052	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	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	-1.784981
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	12	DEVICE1	2
T_DIVE	200	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	240	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	607	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3934	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2915	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	5	VBD_TIMEOUT	360	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-35210.438	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
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	45	AH0_24V	91.800003	SEABIRD_T_G	0.0043062796
SPEED_FACTOR	1	PITCH_MAX	3331	AH0_10V	61.200001	SEABIRD_T_H	0.0006289829
RHO	1.023	C_PITCH	2450	PRESSURE_YINT	-16.564281	SEABIRD_T_I	2.2033064e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.057111e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.442612
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1821688
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015124022
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022414648

GPS1	160428,6132.532,-252.041,25,4.2,44,-6.0	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.258,-0.056
_SM_DEPTHo	1.13	KALMAN_X	32057.1,-1768.6,-309.5,-14568.3,10405.6
_SM_ANGLEo	-61.5	KALMAN_Y	-2225.0,-180.2,222.2,-410.6,170.6
GPS2	160915,6132.588,-251.769,10,1.9,10,-6.0	MHEAD_RNG_PITCHd_Wd	263.8,336721,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	600

FINISH	0.4,1.003720	XPDR_PINGS	1
SM_CCo	11660,67.78,0.670,2,0,1691,300.00	ALTIM_TOP_PING	19.5,18.8
SM_GC	0.90,0.00,0.00,67.78,0.000,0.000,0.670,43,2048,1691,-11.07,-0.11,300.00	_24V_AH	23.1,4.327
IRIDIUM_FIX	6108.28,-256.02,110597,131305	_10V_AH	10.1,2.267
TT8_MAMPS	0.026845	DATA_FILE_SIZE	28570,557
HUMID	1718	CFSIZE	260165632,256675840
INTERNAL_PRESSURE	8.39119	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
TCM_TEMP	15.90	GPS	150208,192702,6131.853,-247.876,38,1.5,38,-5.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	98.93	SBE_CT	409	24	227.24
Roll_motor	105	70	171.52	SBE_O2	375	19	164.66
VBD_pump_during_apogee	274	1149	7297.70	WL_BB2F	415	105	1006.63
VBD_pump_during_surface	67	669	1048.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	89.74	nil	0	0	0.00
Iridium_during_connect	37	160	138.28	nil	0	0	0.00
Iridium_during_xfer	121	223	626.05
Transponder_ping	5	420	50.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.28
TT8	1076	19	215.21
LPSleep	8700	2	192.45
TT8_Active	479	19	95.82
TT8_Sampling	1399	39	562.41
TT8_CF8	383	45	177.29
TT8_Kalman	33	81	27.57
Analog_circuits	1165	12	141.24
GPS_charging	0	0	0.00
Compass	1376	8	111.25
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
23	-1.39	-146.6	0.0	0.0	0	120	0.00	0.00	-94.60	0.000	6	0.000	0.000	45	2058	3514
123	-1.39	-146.6	2.5	-2.3	4	137	11.90	0.00	0.00	0.000	6	0.159	0.000	2142	2056	3516
454	-1.39	-146.6	47.4	-10.5	20	459	0.00	2.58	0.00	0.000	4	0.000	0.059	2142	644	3517
549	-1.39	-146.6	58.4	-11.3	24	553	0.00	2.42	0.00	0.000	6	0.000	0.037	2142	2052	3517
865	-1.39	-146.6	94.1	-11.0	39	869	0.00	2.58	0.00	0.000	4	0.000	0.061	2142	643	3517
973	-1.39	-146.6	106.6	-11.1	44	977	0.00	2.42	0.00	0.000	6	0.000	0.036	2142	2052	3517
1300	-1.39	-146.6	143.0	-11.4	60	1304	0.00	2.55	0.00	0.000	4	0.000	0.060	2142	648	3518
1388	-1.39	-146.6	154.0	-12.2	64	1393	0.00	2.42	0.00	0.000	6	0.000	0.037	2142	2059	3517
1710	-1.39	-146.6	190.0	-11.4	80	1714	0.00	2.58	0.00	0.000	4	0.000	0.061	2142	644	3518
1799	-1.39	-146.6	200.8	-12.2	84	1803	0.00	2.42	0.00	0.000	6	0.000	0.037	2142	2053	3518
2120	-1.39	-146.6	235.4	-10.8	100	2124	0.00	2.55	0.00	0.000	4	0.000	0.061	2142	648	3518
2191	-1.39	-146.6	243.2	-10.6	103	2195	0.00	2.42	0.00	0.000	6	0.000	0.038	2142	2061	3518
2513	-1.39	-146.6	274.7	-9.9	119	2518	0.00	2.58	0.00	0.000	4	0.000	0.061	2142	645	3518
2596	-1.39	-146.6	283.8	-10.9	122	2602	0.00	2.42	0.00	0.000	6	0.000	0.038	2142	2056	3518
2911	-1.39	-146.6	317.5	-10.8	138	2915	0.00	2.55	0.00	0.000	4	0.000	0.061	2142	648	3518
2980	-1.39	-146.6	325.3	-11.6	141	2984	0.00	2.42	0.00	0.000	6	0.000	0.038	2142	2053	3518
3301	-1.39	-146.6	358.7	-9.9	157	3305	0.00	2.55	0.00	0.000	4	0.000	0.061	2142	649	3517
3367	-1.39	-146.6	365.4	-9.6	160	3372	0.00	2.42	0.00	0.000	6	0.000	0.038	2142	2053	3517
3690	-1.39	-146.6	395.7	-9.2	176	3694	0.00	2.55	0.00	0.000	4	0.000	0.061	2142	650	3517
3745	-1.39	-146.6	401.2	-9.6	178	3751	0.00	2.42	0.00	0.000	6	0.000	0.038	2142	2054	3517
4060	-1.39	-146.6	433.1	-11.2	194	4064	0.00	2.55	0.00	0.000	4	0.000	0.062	2142	649	3517
4126	-1.39	-146.6	440.5	-10.4	197	4130	0.00	2.42	0.00	0.000	6	0.000	0.039	2142	2058	3517
4448	-1.39	-146.6	470.9	-9.8	213	4449	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2058	3517
4756	-1.39	-146.6	502.8	-10.6	228	4761	0.00	2.58	0.00	0.000	4	0.000	0.064	2142	649	3516
4851	-1.39	-146.6	513.1	-10.7	232	4855	0.00	2.42	0.00	0.000	6	0.000	0.041	2142	2051	3515
5167	-1.39	-146.6	544.5	-9.7	247	5171	0.00	2.58	0.00	0.000	4	0.000	0.065	2142	646	3514
5246	-1.39	-146.6	552.5	-10.1	250	5252	0.00	2.45	0.00	0.000	6	0.000	0.043	2142	2051	3514
5562	-1.39	-146.6	583.2	-9.6	266	5563	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2051	3513
5745	end dive: TARGET_DEPTH_EXCEEDED
state	5745	begin apogee
5751	-0.33	0.0	600.2	9.1	275	5877	1.15	0.00	123.28	1.150	6	0.094	0.000	2373	2052	2915
5878	end apogee: CONTROL_FINISHED_OK
state	5878	begin climb
5881	1.39	146.6	604.3	0.0	281	6012	1.75	2.62	122.93	1.107	4	0.060	0.062	2750	3455	2316
6183	1.39	146.6	582.6	10.4	295	6187	0.00	2.50	0.00	0.000	6	0.000	0.047	2749	2052	2316
6510	1.39	146.6	548.2	10.7	311	6515	0.00	2.58	0.00	0.000	4	0.000	0.061	2749	3459	2314
6605	1.39	146.6	537.4	11.2	315	6609	0.00	2.53	0.00	0.000	6	0.000	0.047	2750	2046	2314
6921	1.39	146.6	505.2	10.2	330	6925	0.00	2.60	0.00	0.000	4	0.000	0.071	2750	649	2314
6947	1.39	146.6	502.2	10.9	331	6951	0.00	2.45	0.00	0.000	6	0.000	0.043	2750	2054	2313
7268	1.39	146.6	468.1	10.5	347	7269	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2055	2312
7578	1.40	160.6	438.0	9.4	362	7599	0.00	2.65	12.05	1.022	4	0.000	0.062	2750	3454	2260
7622	1.40	160.6	433.5	10.3	364	7626	0.00	2.50	0.00	0.000	6	0.000	0.045	2750	2051	2260
7948	1.40	160.6	396.6	12.3	380	7952	0.00	2.55	0.00	0.000	4	0.000	0.059	2750	3455	2260
8032	1.40	160.6	386.0	12.5	384	8036	0.00	2.47	0.00	0.000	6	0.000	0.044	2750	2051	2260
8364	1.40	160.6	349.2	11.0	400	8365	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2051	2260
8673	1.40	160.6	315.2	11.1	415	8674	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2051	2260
8983	1.40	160.6	282.2	10.2	430	8987	0.00	2.53	0.00	0.000	4	0.000	0.054	2750	3455	2260
9027	1.40	160.6	277.4	11.1	432	9031	0.00	2.45	0.00	0.000	6	0.000	0.040	2750	2047	2260
9353	1.40	160.6	244.4	10.1	448	9354	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2047	2261
9663	1.40	160.6	212.8	10.2	463	9667	0.00	2.53	0.00	0.000	4	0.000	0.054	2750	3457	2261
9712	1.40	160.6	207.5	10.6	465	9716	0.00	2.45	0.00	0.000	6	0.000	0.038	2749	2047	2262
10028	1.42	170.7	176.7	9.5	480	10042	0.00	2.55	10.00	0.797	4	0.000	0.052	2750	3455	2219
10160	1.42	170.7	162.5	10.9	485	10164	0.00	2.45	0.00	0.000	6	0.000	0.038	2750	2050	2219
10482	1.42	170.7	127.2	11.1	501	10483	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2050	2220
10791	1.42	176.0	95.1	9.8	516	10800	0.00	0.00	6.53	0.678	6	0.000	0.000	2749	2050	2197
11101	1.42	176.0	61.0	11.6	531	11102	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2050	2197
11410	1.42	176.0	24.8	11.4	546	11414	0.00	2.50	0.00	0.000	4	0.000	0.051	2750	3455	2198
11482	1.42	176.0	16.0	12.2	549	11486	0.00	2.45	0.00	0.000	6	0.000	0.039	2750	2050	2198
11615	end climb: SURFACE_DEPTH_REACHED
state	11616	begin surface coast
11638	end surface coast: CONTROL_FINISHED_OK
state	11638	begin surface