Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 135 * 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 135 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 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 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 -2095800.2 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 -2095800.2

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 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 135 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 231725,6227.651,-917.029,28,1.8,45,-9.7 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6227.662,-921.798

_XMS_NAKs 0 TGT_RADIUS 1852.000

_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 -59.5 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 232550,6227.662,-916.805,33,1.9,50,-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 0.6,1.013218 ALTIM_BOTTOM_PING 501.6,67.7

SM_CCo 11753,141.00,0.629,0,0,509,557.32 _24V_AH 23.6,24.624

SM_GC 1.26,0.00,0.00,141.00,0.000,0.000,0.629,72,2308,509,-10.24,0.23,557.32 _10V_AH 10.1,12.248

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28596,566

TT8_MAMPS 0.02301 CAP_FILE_SIZE 94157,0

HUMID 1871 CFSIZE 260165632,250241024

TCM_TEMP 16.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 27 GPS 040708,024558,6225.830,-919.104,40,4.1,59,-9.7

ALTIM_TOP_PING 19.6,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 168 103.04 SBE_CT 415 24 235.43

Roll_motor 107 85 217.94 SBE_O2 384 19 172.38

VBD_pump_during_apogee 362 1020 8723.43 WL_BB2F 392 105 973.54

VBD_pump_during_surface 141 628 2092.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.64 nil 0 0 0.00

Iridium_during_connect 56 160 214.57 nil 0 0 0.00

Iridium_during_xfer 202 223 1067.49

Transponder_ping 11 420 111.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 50 50 25.33

TT8 1080 19 216.06

LPSleep 8792 2 194.47

TT8_Active 655 19 131.18

TT8_Sampling 1366 39 549.30

TT8_CF8 507 45 234.94

TT8_Kalman 0 81 0.00

Analog_circuits 1339 12 162.37

GPS_charging 0 0 0.00

Compass 1297 8 104.81

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

30 -1.08 -146.6 0.0 0.0 0 152 0.00 0.00 -120.70 0.000 2 0.000 0.000 72 2310 2994

156 -1.08 -146.6 3.8 -3.1 6 183 11.15 2.67 -9.02 0.000 4 0.169 0.074 2057 878 3381

376 -1.00 -146.6 37.3 -12.5 16 381 0.12 2.62 0.00 0.000 6 0.109 0.054 2080 2295 3381

705 -0.92 -146.6 76.5 -12.1 32 706 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2297 3382

1012 -0.83 -146.6 113.3 -11.8 47 1017 0.15 2.67 0.00 0.000 4 0.099 0.063 2113 872 3382

1053 -0.89 -146.6 117.9 -10.9 49 1057 0.00 2.65 0.00 0.000 6 0.000 0.054 2113 2307 3382

1380 -0.89 -146.6 151.2 -10.5 65 1385 0.00 2.70 0.00 0.000 4 0.000 0.064 2113 872 3382

1425 -0.94 -146.6 156.1 -10.1 67 1429 0.00 2.62 0.00 0.000 6 0.000 0.055 2113 2299 3382

1746 -0.94 -146.6 186.3 -9.1 83 1747 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2300 3382

2054 -0.94 -146.6 213.7 -9.1 98 2059 0.00 2.67 0.00 0.000 4 0.000 0.066 2113 878 3382

2133 -1.00 -146.6 221.4 -9.1 101 2140 0.15 2.65 0.00 0.000 6 0.044 0.056 2067 2306 3382

2449 -0.88 -146.6 258.6 -12.0 117 2451 0.20 0.00 0.00 0.000 6 0.091 0.000 2107 2307 3382

2758 -0.88 -146.6 290.2 -9.4 132 2759 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 2307 3382

3067 -0.88 -146.6 318.7 -9.0 147 3071 0.00 2.70 0.00 0.000 4 0.000 0.067 2106 877 3383

3112 -0.94 -146.6 322.4 -8.8 149 3116 0.00 2.65 0.00 0.000 6 0.000 0.057 2106 2304 3382

3433 -0.94 -146.6 350.7 -10.0 165 3437 0.00 2.70 0.00 0.000 4 0.000 0.067 2106 874 3382

3546 -0.99 -146.6 363.6 -11.9 170 3551 0.00 2.65 0.00 0.000 6 0.000 0.058 2106 2301 3382

3870 -0.99 -146.6 402.1 -11.8 186 3871 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 2302 3382

4177 -0.99 -146.6 435.8 -10.2 201 4181 0.00 2.70 0.00 0.000 4 0.000 0.081 2106 3710 3382

4244 -0.99 -146.6 443.2 -10.5 204 4248 0.00 2.60 0.00 0.000 6 0.000 0.058 2106 2296 3381

4568 -0.99 -146.6 476.9 -10.5 220 4570 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 2295 3381

4874 -0.99 -146.6 508.1 -10.3 235 4878 0.00 2.67 0.00 0.000 4 0.000 0.071 2106 877 3381

4936 -1.06 -146.6 514.4 -9.6 238 4941 0.17 2.65 0.00 0.000 6 0.047 0.060 2058 2305 3381

5263 -0.93 -146.6 553.9 -12.1 254 5268 0.15 2.72 0.00 0.000 4 0.100 0.086 2090 3709 3380

5305 end dive: BOTTOM_OBSTACLE_DETECTED

state 5305 begin apogee

5314 -0.31 0.0 559.6 12.0 256 5451 0.68 0.00 129.90 1.020 6 0.097 0.000 2228 2204 2781

5451 end apogee: CONTROL_FINISHED_OK

state 5451 begin climb

5454 1.08 146.6 567.0 0.0 263 5593 1.45 2.83 127.82 1.007 4 0.074 0.082 2533 3613 2183

5648 1.13 191.0 561.8 6.4 272 5693 0.00 2.67 39.25 0.976 6 0.000 0.061 2533 2197 2002

6012 1.22 227.1 536.7 6.7 290 6055 0.15 2.85 32.25 0.973 4 0.053 0.082 2578 3615 1855

6196 1.15 227.1 521.6 9.7 298 6201 0.15 2.67 0.00 0.000 6 0.103 0.063 2551 2204 1855

6517 1.20 227.1 497.0 8.5 314 6518 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2203 1854

6826 1.20 227.1 469.5 9.2 329 6831 0.00 2.75 0.00 0.000 4 0.000 0.083 2551 3610 1853

6889 1.20 227.1 462.8 11.5 332 6893 0.00 2.65 0.00 0.000 6 0.000 0.063 2550 2198 1853

7215 1.24 227.1 427.9 11.4 348 7220 0.00 2.75 0.00 0.000 4 0.000 0.081 2551 3610 1852

7304 1.24 227.1 417.2 12.7 352 7308 0.00 2.65 0.00 0.000 6 0.000 0.064 2551 2201 1852

7625 1.28 227.1 382.0 10.0 368 7630 0.12 2.75 0.00 0.000 4 0.054 0.081 2586 3613 1850

7670 1.18 227.1 376.6 12.1 370 7675 0.15 2.67 0.00 0.000 6 0.108 0.064 2559 2194 1850

7992 1.22 265.5 352.3 6.6 386 8030 0.00 0.00 33.12 0.900 6 0.000 0.000 2559 2194 1698

8341 1.28 266.5 325.7 8.0 403 8345 0.00 2.75 0.00 0.000 4 0.000 0.077 2559 3613 1696

8374 1.32 266.5 322.7 8.8 404 8381 0.12 2.65 0.00 0.000 6 0.053 0.064 2594 2199 1697

8690 1.32 266.5 293.3 9.4 420 8691 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2199 1697

8999 1.32 266.5 261.7 10.9 435 9003 0.00 2.70 0.00 0.000 4 0.000 0.076 2594 3613 1697

9071 1.26 266.5 253.0 12.4 438 9076 0.12 2.62 0.00 0.000 6 0.102 0.061 2572 2200 1698

9387 1.26 266.5 219.7 10.2 453 9388 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2200 1697

9697 1.26 266.5 189.6 9.5 468 9701 0.00 2.67 0.00 0.000 4 0.000 0.074 2571 3618 1698

9746 1.26 266.5 184.4 10.7 470 9751 0.00 2.62 0.00 0.000 6 0.000 0.060 2571 2202 1698

10062 1.26 266.5 154.8 9.0 485 10063 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2201 1698

10371 1.26 266.5 126.1 9.7 500 10372 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2201 1699

10681 1.26 266.5 97.3 9.0 515 10685 0.00 2.67 0.00 0.000 4 0.000 0.072 2572 3617 1699

10767 1.26 266.5 89.1 10.3 519 10772 0.00 2.62 0.00 0.000 6 0.000 0.059 2572 2195 1700

11095 1.26 266.5 59.9 8.7 535 11100 0.00 2.67 0.00 0.000 4 0.000 0.071 2571 3613 1700

11136 1.26 266.5 55.8 10.8 537 11140 0.00 2.62 0.00 0.000 6 0.000 0.058 2571 2193 1701

11462 1.26 266.5 25.1 8.9 553 11467 0.00 2.67 0.00 0.000 4 0.000 0.071 2571 3615 1701

11520 1.26 266.5 19.6 10.5 555 11526 0.00 2.60 0.00 0.000 6 0.000 0.058 2571 2197 1701

11709 end climb: SURFACE_DEPTH_REACHED

state 11709 begin surface coast

11731 end surface coast: CONTROL_FINISHED_OK

state 11732 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	135	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	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	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	-2095800.2	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	231725,6227.651,-917.029,28,1.8,45,-9.7	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6227.662,-921.798
_XMS_NAKs	0	TGT_RADIUS	1852.000
_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	-59.5	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	232550,6227.662,-916.805,33,1.9,50,-9.7	MHEAD_RNG_PITCHd_Wd	279.7,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.013218	ALTIM_BOTTOM_PING	501.6,67.7
SM_CCo	11753,141.00,0.629,0,0,509,557.32	_24V_AH	23.6,24.624
SM_GC	1.26,0.00,0.00,141.00,0.000,0.000,0.629,72,2308,509,-10.24,0.23,557.32	_10V_AH	10.1,12.248
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28596,566
TT8_MAMPS	0.02301	CAP_FILE_SIZE	94157,0
HUMID	1871	CFSIZE	260165632,250241024
TCM_TEMP	16.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	27	GPS	040708,024558,6225.830,-919.104,40,4.1,59,-9.7
ALTIM_TOP_PING	19.6,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	168	103.04	SBE_CT	415	24	235.43
Roll_motor	107	85	217.94	SBE_O2	384	19	172.38
VBD_pump_during_apogee	362	1020	8723.43	WL_BB2F	392	105	973.54
VBD_pump_during_surface	141	628	2092.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.64	nil	0	0	0.00
Iridium_during_connect	56	160	214.57	nil	0	0	0.00
Iridium_during_xfer	202	223	1067.49
Transponder_ping	11	420	111.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	50	50	25.33
TT8	1080	19	216.06
LPSleep	8792	2	194.47
TT8_Active	655	19	131.18
TT8_Sampling	1366	39	549.30
TT8_CF8	507	45	234.94
TT8_Kalman	0	81	0.00
Analog_circuits	1339	12	162.37
GPS_charging	0	0	0.00
Compass	1297	8	104.81
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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
30	-1.08	-146.6	0.0	0.0	0	152	0.00	0.00	-120.70	0.000	2	0.000	0.000	72	2310	2994
156	-1.08	-146.6	3.8	-3.1	6	183	11.15	2.67	-9.02	0.000	4	0.169	0.074	2057	878	3381
376	-1.00	-146.6	37.3	-12.5	16	381	0.12	2.62	0.00	0.000	6	0.109	0.054	2080	2295	3381
705	-0.92	-146.6	76.5	-12.1	32	706	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2297	3382
1012	-0.83	-146.6	113.3	-11.8	47	1017	0.15	2.67	0.00	0.000	4	0.099	0.063	2113	872	3382
1053	-0.89	-146.6	117.9	-10.9	49	1057	0.00	2.65	0.00	0.000	6	0.000	0.054	2113	2307	3382
1380	-0.89	-146.6	151.2	-10.5	65	1385	0.00	2.70	0.00	0.000	4	0.000	0.064	2113	872	3382
1425	-0.94	-146.6	156.1	-10.1	67	1429	0.00	2.62	0.00	0.000	6	0.000	0.055	2113	2299	3382
1746	-0.94	-146.6	186.3	-9.1	83	1747	0.00	0.00	0.00	0.000	6	0.000	0.000	2113	2300	3382
2054	-0.94	-146.6	213.7	-9.1	98	2059	0.00	2.67	0.00	0.000	4	0.000	0.066	2113	878	3382
2133	-1.00	-146.6	221.4	-9.1	101	2140	0.15	2.65	0.00	0.000	6	0.044	0.056	2067	2306	3382
2449	-0.88	-146.6	258.6	-12.0	117	2451	0.20	0.00	0.00	0.000	6	0.091	0.000	2107	2307	3382
2758	-0.88	-146.6	290.2	-9.4	132	2759	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	2307	3382
3067	-0.88	-146.6	318.7	-9.0	147	3071	0.00	2.70	0.00	0.000	4	0.000	0.067	2106	877	3383
3112	-0.94	-146.6	322.4	-8.8	149	3116	0.00	2.65	0.00	0.000	6	0.000	0.057	2106	2304	3382
3433	-0.94	-146.6	350.7	-10.0	165	3437	0.00	2.70	0.00	0.000	4	0.000	0.067	2106	874	3382
3546	-0.99	-146.6	363.6	-11.9	170	3551	0.00	2.65	0.00	0.000	6	0.000	0.058	2106	2301	3382
3870	-0.99	-146.6	402.1	-11.8	186	3871	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	2302	3382
4177	-0.99	-146.6	435.8	-10.2	201	4181	0.00	2.70	0.00	0.000	4	0.000	0.081	2106	3710	3382
4244	-0.99	-146.6	443.2	-10.5	204	4248	0.00	2.60	0.00	0.000	6	0.000	0.058	2106	2296	3381
4568	-0.99	-146.6	476.9	-10.5	220	4570	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	2295	3381
4874	-0.99	-146.6	508.1	-10.3	235	4878	0.00	2.67	0.00	0.000	4	0.000	0.071	2106	877	3381
4936	-1.06	-146.6	514.4	-9.6	238	4941	0.17	2.65	0.00	0.000	6	0.047	0.060	2058	2305	3381
5263	-0.93	-146.6	553.9	-12.1	254	5268	0.15	2.72	0.00	0.000	4	0.100	0.086	2090	3709	3380
5305	end dive: BOTTOM_OBSTACLE_DETECTED
state	5305	begin apogee
5314	-0.31	0.0	559.6	12.0	256	5451	0.68	0.00	129.90	1.020	6	0.097	0.000	2228	2204	2781
5451	end apogee: CONTROL_FINISHED_OK
state	5451	begin climb
5454	1.08	146.6	567.0	0.0	263	5593	1.45	2.83	127.82	1.007	4	0.074	0.082	2533	3613	2183
5648	1.13	191.0	561.8	6.4	272	5693	0.00	2.67	39.25	0.976	6	0.000	0.061	2533	2197	2002
6012	1.22	227.1	536.7	6.7	290	6055	0.15	2.85	32.25	0.973	4	0.053	0.082	2578	3615	1855
6196	1.15	227.1	521.6	9.7	298	6201	0.15	2.67	0.00	0.000	6	0.103	0.063	2551	2204	1855
6517	1.20	227.1	497.0	8.5	314	6518	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2203	1854
6826	1.20	227.1	469.5	9.2	329	6831	0.00	2.75	0.00	0.000	4	0.000	0.083	2551	3610	1853
6889	1.20	227.1	462.8	11.5	332	6893	0.00	2.65	0.00	0.000	6	0.000	0.063	2550	2198	1853
7215	1.24	227.1	427.9	11.4	348	7220	0.00	2.75	0.00	0.000	4	0.000	0.081	2551	3610	1852
7304	1.24	227.1	417.2	12.7	352	7308	0.00	2.65	0.00	0.000	6	0.000	0.064	2551	2201	1852
7625	1.28	227.1	382.0	10.0	368	7630	0.12	2.75	0.00	0.000	4	0.054	0.081	2586	3613	1850
7670	1.18	227.1	376.6	12.1	370	7675	0.15	2.67	0.00	0.000	6	0.108	0.064	2559	2194	1850
7992	1.22	265.5	352.3	6.6	386	8030	0.00	0.00	33.12	0.900	6	0.000	0.000	2559	2194	1698
8341	1.28	266.5	325.7	8.0	403	8345	0.00	2.75	0.00	0.000	4	0.000	0.077	2559	3613	1696
8374	1.32	266.5	322.7	8.8	404	8381	0.12	2.65	0.00	0.000	6	0.053	0.064	2594	2199	1697
8690	1.32	266.5	293.3	9.4	420	8691	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2199	1697
8999	1.32	266.5	261.7	10.9	435	9003	0.00	2.70	0.00	0.000	4	0.000	0.076	2594	3613	1697
9071	1.26	266.5	253.0	12.4	438	9076	0.12	2.62	0.00	0.000	6	0.102	0.061	2572	2200	1698
9387	1.26	266.5	219.7	10.2	453	9388	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2200	1697
9697	1.26	266.5	189.6	9.5	468	9701	0.00	2.67	0.00	0.000	4	0.000	0.074	2571	3618	1698
9746	1.26	266.5	184.4	10.7	470	9751	0.00	2.62	0.00	0.000	6	0.000	0.060	2571	2202	1698
10062	1.26	266.5	154.8	9.0	485	10063	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2201	1698
10371	1.26	266.5	126.1	9.7	500	10372	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2201	1699
10681	1.26	266.5	97.3	9.0	515	10685	0.00	2.67	0.00	0.000	4	0.000	0.072	2572	3617	1699
10767	1.26	266.5	89.1	10.3	519	10772	0.00	2.62	0.00	0.000	6	0.000	0.059	2572	2195	1700
11095	1.26	266.5	59.9	8.7	535	11100	0.00	2.67	0.00	0.000	4	0.000	0.071	2571	3613	1700
11136	1.26	266.5	55.8	10.8	537	11140	0.00	2.62	0.00	0.000	6	0.000	0.058	2571	2193	1701
11462	1.26	266.5	25.1	8.9	553	11467	0.00	2.67	0.00	0.000	4	0.000	0.071	2571	3615	1701
11520	1.26	266.5	19.6	10.5	555	11526	0.00	2.60	0.00	0.000	6	0.000	0.058	2571	2197	1701
11709	end climb: SURFACE_DEPTH_REACHED
state	11709	begin surface coast
11731	end surface coast: CONTROL_FINISHED_OK
state	11732	begin surface