Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 133 * 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 270 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 133 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 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 -2095714.9 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 2 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 412.5

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 -2095714.9

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 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 2200 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 133 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 161508,6227.635,-914.514,36,1.4,36,-9.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6227.586,-919.678

_XMS_NAKs 9 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.23 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 162044,6227.586,-914.685,15,1.5,32,-9.7 MHEAD_RNG_PITCHd_Wd 279.7,20000,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.014253 ALTIM_BOTTOM_PING 525.9,48.0

SM_CCo 12262,132.90,0.626,0,0,508,557.32 _24V_AH 23.6,24.338

SM_GC 1.24,0.00,0.00,132.90,0.000,0.000,0.626,75,2307,508,-10.24,0.23,557.32 _10V_AH 10.1,12.125

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28652,589

TT8_MAMPS 0.023777 CAP_FILE_SIZE 93958,0

HUMID 1847 CFSIZE 260165632,250331136

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 38 GPS 030708,194855,6227.118,-918.864,24,2.0,42,-9.7

ALTIM_TOP_PING 18.8,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 102.01 SBE_CT 433 24 245.27

Roll_motor 102 83 201.40 SBE_O2 399 19 179.25

VBD_pump_during_apogee 385 1039 9447.85 WL_BB2F 406 105 1008.22

VBD_pump_during_surface 132 625 1963.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.74 nil 0 0 0.00

Iridium_during_connect 28 160 106.64 nil 0 0 0.00

Iridium_during_xfer 162 223 856.24

Transponder_ping 14 420 141.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.46

TT8 1105 19 221.17

LPSleep 9178 2 203.02

TT8_Active 664 19 132.85

TT8_Sampling 1366 39 549.49

TT8_CF8 418 45 193.62

TT8_Kalman 0 81 0.00

Analog_circuits 1353 12 164.07

GPS_charging 0 0 0.00

Compass 1312 8 106.04

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

32 -1.08 -146.6 0.0 0.0 0 154 0.00 0.00 -120.88 0.000 2 0.000 0.000 71 2308 3015

158 -1.08 -146.6 4.2 -3.5 6 183 11.10 2.70 -8.02 0.000 4 0.167 0.082 2056 3709 3381

414 -0.92 -146.6 50.2 -15.1 17 419 0.22 2.60 0.00 0.000 6 0.094 0.054 2099 2296 3381

731 -0.92 -146.6 84.7 -9.3 32 735 0.00 2.65 0.00 0.000 4 0.000 0.066 2099 876 3382

764 -0.92 -146.6 88.0 -9.1 33 770 0.00 2.62 0.00 0.000 6 0.000 0.054 2099 2302 3381

1080 -0.92 -146.6 118.3 -10.8 49 1084 0.00 2.67 0.00 0.000 4 0.000 0.063 2099 874 3382

1152 -0.92 -146.6 125.9 -9.9 52 1156 0.00 2.65 0.00 0.000 6 0.000 0.055 2099 2303 3382

1468 -0.92 -146.6 156.0 -10.0 67 1469 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2303 3382

1776 -0.92 -146.6 190.5 -11.4 82 1781 0.00 2.70 0.00 0.000 4 0.000 0.067 2099 878 3383

1820 -0.92 -146.6 195.4 -11.0 84 1825 0.00 2.65 0.00 0.000 6 0.000 0.055 2099 2306 3382

2142 -0.92 -146.6 227.9 -9.6 100 2146 0.00 2.70 0.00 0.000 4 0.000 0.067 2100 874 3382

2181 -0.92 -146.6 231.8 -9.9 102 2185 0.00 2.65 0.00 0.000 6 0.000 0.057 2100 2300 3382

2507 -0.92 -146.6 266.7 -11.3 118 2508 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2300 3383

2817 -0.92 -146.6 299.3 -9.9 133 2821 0.00 2.65 0.00 0.000 4 0.000 0.068 2100 885 3382

2877 -0.92 -146.6 305.5 -9.4 135 2883 0.00 2.62 0.00 0.000 6 0.000 0.058 2100 2304 3383

3193 -0.92 -146.6 331.7 -8.7 151 3197 0.00 2.70 0.00 0.000 4 0.000 0.068 2100 876 3382

3301 -0.96 -146.6 343.4 -10.5 156 3305 0.00 2.62 0.00 0.000 6 0.000 0.058 2100 2300 3382

3627 -0.96 -146.6 379.6 -10.7 172 3628 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2300 3382

3937 -0.96 -146.6 410.6 -10.3 187 3941 0.00 2.67 0.00 0.000 4 0.000 0.068 2100 877 3382

4009 -0.96 -146.6 417.6 -9.2 190 4013 0.00 2.65 0.00 0.000 6 0.000 0.058 2100 2300 3381

4324 -0.96 -146.6 446.9 -10.4 205 4325 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2299 3381

4634 -0.96 -146.6 477.0 -9.4 220 4635 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2299 3381

4943 -0.96 -146.6 508.8 -10.6 235 4944 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2300 3380

5252 -0.96 -146.6 538.6 -8.6 250 5253 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2300 3379

5559 end dive: BOTTOM_OBSTACLE_DETECTED

state 5559 begin apogee

5566 -0.31 0.0 565.3 8.5 265 5701 0.65 0.00 129.68 1.039 6 0.100 0.000 2230 2196 2781

5702 end apogee: CONTROL_FINISHED_OK

state 5702 begin climb

5705 1.08 146.6 570.9 0.0 272 5838 1.42 0.00 128.43 1.020 6 0.079 0.000 2530 2196 2182

6137 1.11 165.9 548.0 7.3 293 6161 0.00 2.78 18.20 0.950 4 0.000 0.072 2529 791 2104

6195 1.11 165.9 543.5 8.3 295 6202 0.00 2.65 0.00 0.000 6 0.000 0.059 2529 2198 2103

6512 1.15 206.8 521.6 6.5 311 6554 0.00 2.83 36.25 0.984 4 0.000 0.082 2529 3618 1937

6588 1.20 213.3 516.1 7.8 314 6603 0.15 2.67 7.68 0.822 6 0.054 0.064 2571 2200 1911

6931 1.20 213.3 486.7 8.3 331 6935 0.00 2.75 0.00 0.000 4 0.000 0.084 2570 3612 1909

6986 1.12 213.3 481.9 9.0 333 6993 0.12 2.65 0.00 0.000 6 0.106 0.064 2547 2200 1909

7302 1.14 226.2 459.4 7.5 349 7316 0.00 0.00 12.35 0.894 6 0.000 0.000 2547 2200 1857

7612 1.18 226.2 431.1 8.6 364 7616 0.00 2.72 0.00 0.000 4 0.000 0.084 2547 3612 1857

7644 1.18 226.2 428.1 9.0 365 7651 0.00 2.65 0.00 0.000 6 0.000 0.065 2547 2197 1857

7961 1.23 226.2 398.7 9.4 381 7962 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2197 1856

8270 1.27 226.2 370.3 9.5 396 8275 0.15 2.75 0.00 0.000 4 0.054 0.082 2592 3617 1856

8445 1.17 226.2 345.9 14.2 404 8451 0.20 2.67 0.00 0.000 6 0.101 0.069 2553 2204 1856

8772 1.17 226.2 309.9 9.7 420 8776 0.00 2.70 0.00 0.000 4 0.000 0.080 2555 3613 1855

8834 1.10 226.2 303.5 11.4 423 8839 0.00 2.65 0.00 0.000 6 0.000 0.063 2555 2197 1855

9161 1.06 226.2 272.2 10.1 439 9163 0.12 0.00 0.00 0.000 6 0.100 0.000 2532 2196 1856

9471 1.12 235.0 246.3 7.7 454 9485 0.00 2.72 8.65 0.733 4 0.000 0.076 2532 3617 1822

9543 1.12 235.0 239.9 8.8 457 9547 0.00 2.65 0.00 0.000 6 0.000 0.062 2532 2199 1822

9864 1.18 235.0 213.0 8.5 473 9869 0.10 2.70 0.00 0.000 4 0.057 0.075 2562 3618 1822

9908 1.11 235.0 208.2 11.7 475 9913 0.12 2.65 0.00 0.000 6 0.100 0.063 2540 2193 1822

10230 1.15 235.0 179.2 8.9 491 10234 0.00 2.70 0.00 0.000 4 0.000 0.075 2540 3614 1823

10270 1.15 235.0 175.4 10.6 493 10274 0.00 2.65 0.00 0.000 6 0.000 0.061 2540 2194 1823

10597 1.20 235.0 145.7 10.0 509 10598 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2194 1823

10905 1.20 235.0 118.2 9.0 524 10910 0.00 2.70 0.00 0.000 4 0.000 0.074 2540 3614 1824

10946 1.20 235.0 113.8 11.4 526 10950 0.00 2.62 0.00 0.000 6 0.000 0.061 2540 2191 1824

11273 1.24 235.3 85.5 8.0 542 11278 0.15 2.67 0.00 0.000 4 0.045 0.074 2587 3614 1824

11337 1.12 235.3 78.8 11.7 545 11342 0.22 2.62 0.00 0.000 6 0.104 0.061 2545 2199 1824

11664 1.18 287.1 53.0 6.1 561 11710 0.00 0.00 43.97 0.679 6 0.000 0.000 2545 2199 1609

12015 1.27 287.1 22.9 8.8 578 12017 0.15 0.00 0.00 0.000 6 0.048 0.000 2585 2199 1609

12217 end climb: SURFACE_DEPTH_REACHED

state 12217 begin surface coast

12239 end surface coast: CONTROL_FINISHED_OK

state 12239 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	270	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	133	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	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	-2095714.9	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	2	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	161508,6227.635,-914.514,36,1.4,36,-9.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6227.586,-919.678
_XMS_NAKs	9	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.23	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	162044,6227.586,-914.685,15,1.5,32,-9.7	MHEAD_RNG_PITCHd_Wd	279.7,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.014253	ALTIM_BOTTOM_PING	525.9,48.0
SM_CCo	12262,132.90,0.626,0,0,508,557.32	_24V_AH	23.6,24.338
SM_GC	1.24,0.00,0.00,132.90,0.000,0.000,0.626,75,2307,508,-10.24,0.23,557.32	_10V_AH	10.1,12.125
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28652,589
TT8_MAMPS	0.023777	CAP_FILE_SIZE	93958,0
HUMID	1847	CFSIZE	260165632,250331136
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	38	GPS	030708,194855,6227.118,-918.864,24,2.0,42,-9.7
ALTIM_TOP_PING	18.8,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	102.01	SBE_CT	433	24	245.27
Roll_motor	102	83	201.40	SBE_O2	399	19	179.25
VBD_pump_during_apogee	385	1039	9447.85	WL_BB2F	406	105	1008.22
VBD_pump_during_surface	132	625	1963.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.74	nil	0	0	0.00
Iridium_during_connect	28	160	106.64	nil	0	0	0.00
Iridium_during_xfer	162	223	856.24
Transponder_ping	14	420	141.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.46
TT8	1105	19	221.17
LPSleep	9178	2	203.02
TT8_Active	664	19	132.85
TT8_Sampling	1366	39	549.49
TT8_CF8	418	45	193.62
TT8_Kalman	0	81	0.00
Analog_circuits	1353	12	164.07
GPS_charging	0	0	0.00
Compass	1312	8	106.04
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
32	-1.08	-146.6	0.0	0.0	0	154	0.00	0.00	-120.88	0.000	2	0.000	0.000	71	2308	3015
158	-1.08	-146.6	4.2	-3.5	6	183	11.10	2.70	-8.02	0.000	4	0.167	0.082	2056	3709	3381
414	-0.92	-146.6	50.2	-15.1	17	419	0.22	2.60	0.00	0.000	6	0.094	0.054	2099	2296	3381
731	-0.92	-146.6	84.7	-9.3	32	735	0.00	2.65	0.00	0.000	4	0.000	0.066	2099	876	3382
764	-0.92	-146.6	88.0	-9.1	33	770	0.00	2.62	0.00	0.000	6	0.000	0.054	2099	2302	3381
1080	-0.92	-146.6	118.3	-10.8	49	1084	0.00	2.67	0.00	0.000	4	0.000	0.063	2099	874	3382
1152	-0.92	-146.6	125.9	-9.9	52	1156	0.00	2.65	0.00	0.000	6	0.000	0.055	2099	2303	3382
1468	-0.92	-146.6	156.0	-10.0	67	1469	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2303	3382
1776	-0.92	-146.6	190.5	-11.4	82	1781	0.00	2.70	0.00	0.000	4	0.000	0.067	2099	878	3383
1820	-0.92	-146.6	195.4	-11.0	84	1825	0.00	2.65	0.00	0.000	6	0.000	0.055	2099	2306	3382
2142	-0.92	-146.6	227.9	-9.6	100	2146	0.00	2.70	0.00	0.000	4	0.000	0.067	2100	874	3382
2181	-0.92	-146.6	231.8	-9.9	102	2185	0.00	2.65	0.00	0.000	6	0.000	0.057	2100	2300	3382
2507	-0.92	-146.6	266.7	-11.3	118	2508	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2300	3383
2817	-0.92	-146.6	299.3	-9.9	133	2821	0.00	2.65	0.00	0.000	4	0.000	0.068	2100	885	3382
2877	-0.92	-146.6	305.5	-9.4	135	2883	0.00	2.62	0.00	0.000	6	0.000	0.058	2100	2304	3383
3193	-0.92	-146.6	331.7	-8.7	151	3197	0.00	2.70	0.00	0.000	4	0.000	0.068	2100	876	3382
3301	-0.96	-146.6	343.4	-10.5	156	3305	0.00	2.62	0.00	0.000	6	0.000	0.058	2100	2300	3382
3627	-0.96	-146.6	379.6	-10.7	172	3628	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2300	3382
3937	-0.96	-146.6	410.6	-10.3	187	3941	0.00	2.67	0.00	0.000	4	0.000	0.068	2100	877	3382
4009	-0.96	-146.6	417.6	-9.2	190	4013	0.00	2.65	0.00	0.000	6	0.000	0.058	2100	2300	3381
4324	-0.96	-146.6	446.9	-10.4	205	4325	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2299	3381
4634	-0.96	-146.6	477.0	-9.4	220	4635	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2299	3381
4943	-0.96	-146.6	508.8	-10.6	235	4944	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2300	3380
5252	-0.96	-146.6	538.6	-8.6	250	5253	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2300	3379
5559	end dive: BOTTOM_OBSTACLE_DETECTED
state	5559	begin apogee
5566	-0.31	0.0	565.3	8.5	265	5701	0.65	0.00	129.68	1.039	6	0.100	0.000	2230	2196	2781
5702	end apogee: CONTROL_FINISHED_OK
state	5702	begin climb
5705	1.08	146.6	570.9	0.0	272	5838	1.42	0.00	128.43	1.020	6	0.079	0.000	2530	2196	2182
6137	1.11	165.9	548.0	7.3	293	6161	0.00	2.78	18.20	0.950	4	0.000	0.072	2529	791	2104
6195	1.11	165.9	543.5	8.3	295	6202	0.00	2.65	0.00	0.000	6	0.000	0.059	2529	2198	2103
6512	1.15	206.8	521.6	6.5	311	6554	0.00	2.83	36.25	0.984	4	0.000	0.082	2529	3618	1937
6588	1.20	213.3	516.1	7.8	314	6603	0.15	2.67	7.68	0.822	6	0.054	0.064	2571	2200	1911
6931	1.20	213.3	486.7	8.3	331	6935	0.00	2.75	0.00	0.000	4	0.000	0.084	2570	3612	1909
6986	1.12	213.3	481.9	9.0	333	6993	0.12	2.65	0.00	0.000	6	0.106	0.064	2547	2200	1909
7302	1.14	226.2	459.4	7.5	349	7316	0.00	0.00	12.35	0.894	6	0.000	0.000	2547	2200	1857
7612	1.18	226.2	431.1	8.6	364	7616	0.00	2.72	0.00	0.000	4	0.000	0.084	2547	3612	1857
7644	1.18	226.2	428.1	9.0	365	7651	0.00	2.65	0.00	0.000	6	0.000	0.065	2547	2197	1857
7961	1.23	226.2	398.7	9.4	381	7962	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2197	1856
8270	1.27	226.2	370.3	9.5	396	8275	0.15	2.75	0.00	0.000	4	0.054	0.082	2592	3617	1856
8445	1.17	226.2	345.9	14.2	404	8451	0.20	2.67	0.00	0.000	6	0.101	0.069	2553	2204	1856
8772	1.17	226.2	309.9	9.7	420	8776	0.00	2.70	0.00	0.000	4	0.000	0.080	2555	3613	1855
8834	1.10	226.2	303.5	11.4	423	8839	0.00	2.65	0.00	0.000	6	0.000	0.063	2555	2197	1855
9161	1.06	226.2	272.2	10.1	439	9163	0.12	0.00	0.00	0.000	6	0.100	0.000	2532	2196	1856
9471	1.12	235.0	246.3	7.7	454	9485	0.00	2.72	8.65	0.733	4	0.000	0.076	2532	3617	1822
9543	1.12	235.0	239.9	8.8	457	9547	0.00	2.65	0.00	0.000	6	0.000	0.062	2532	2199	1822
9864	1.18	235.0	213.0	8.5	473	9869	0.10	2.70	0.00	0.000	4	0.057	0.075	2562	3618	1822
9908	1.11	235.0	208.2	11.7	475	9913	0.12	2.65	0.00	0.000	6	0.100	0.063	2540	2193	1822
10230	1.15	235.0	179.2	8.9	491	10234	0.00	2.70	0.00	0.000	4	0.000	0.075	2540	3614	1823
10270	1.15	235.0	175.4	10.6	493	10274	0.00	2.65	0.00	0.000	6	0.000	0.061	2540	2194	1823
10597	1.20	235.0	145.7	10.0	509	10598	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2194	1823
10905	1.20	235.0	118.2	9.0	524	10910	0.00	2.70	0.00	0.000	4	0.000	0.074	2540	3614	1824
10946	1.20	235.0	113.8	11.4	526	10950	0.00	2.62	0.00	0.000	6	0.000	0.061	2540	2191	1824
11273	1.24	235.3	85.5	8.0	542	11278	0.15	2.67	0.00	0.000	4	0.045	0.074	2587	3614	1824
11337	1.12	235.3	78.8	11.7	545	11342	0.22	2.62	0.00	0.000	6	0.104	0.061	2545	2199	1824
11664	1.18	287.1	53.0	6.1	561	11710	0.00	0.00	43.97	0.679	6	0.000	0.000	2545	2199	1609
12015	1.27	287.1	22.9	8.8	578	12017	0.15	0.00	0.00	0.000	6	0.048	0.000	2585	2199	1609
12217	end climb: SURFACE_DEPTH_REACHED
state	12217	begin surface coast
12239	end surface coast: CONTROL_FINISHED_OK
state	12239	begin surface