Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 136 * 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 136 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 16 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 -2095830.9 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 -2095830.9

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 16 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 136 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 024558,6225.830,-919.104,40,4.1,59,-9.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6225.780,-924.174

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.29 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 025053,6225.780,-919.175,10,2.5,29,-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 0.8,1.015106 ALTIM_BOTTOM_PING 525.5,50.8

SM_CCo 11864,137.75,0.627,0,0,509,557.32 _24V_AH 23.6,24.764

SM_GC 1.33,0.00,0.00,137.75,0.000,0.000,0.627,71,2314,509,-10.25,0.40,557.32 _10V_AH 10.2,12.307

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28517,568

TT8_MAMPS 0.023777 CAP_FILE_SIZE 86894,0

HUMID 1875 CFSIZE 260165632,250200064

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 26 GPS 040708,061231,6224.620,-924.377,38,1.3,43,-9.8

ALTIM_TOP_PING 19.2,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 168 102.05 SBE_CT 419 24 237.73

Roll_motor 91 82 176.49 SBE_O2 385 19 172.79

VBD_pump_during_apogee 368 1021 8887.24 WL_BB2F 386 105 956.69

VBD_pump_during_surface 137 627 2039.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.45 nil 0 0 0.00

Iridium_during_connect 27 160 104.84 nil 0 0 0.00

Iridium_during_xfer 122 223 645.52

Transponder_ping 11 420 111.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.32

TT8 1057 19 213.48

LPSleep 8939 2 199.70

TT8_Active 668 19 135.03

TT8_Sampling 1259 39 511.20

TT8_CF8 374 45 174.92

TT8_Kalman 0 81 0.00

Analog_circuits 1303 12 159.51

GPS_charging 0 0 0.00

Compass 1214 8 99.06

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 27 begin dive

30 -1.08 -146.6 0.0 0.0 0 153 0.00 0.00 -120.82 0.000 2 0.000 0.000 73 2308 3025

156 -1.08 -146.6 4.3 -3.6 6 181 11.10 2.70 -7.70 0.000 4 0.169 0.082 2055 3707 3379

434 -0.93 -146.6 49.5 -15.1 18 440 0.20 2.60 0.00 0.000 6 0.096 0.053 2093 2291 3380

751 -0.88 -146.6 84.8 -10.6 33 752 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 2291 3380

1060 -0.88 -146.6 115.6 -10.1 48 1061 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 2292 3381

1371 -0.83 -146.6 148.0 -10.6 63 1372 0.12 0.00 0.00 0.000 6 0.105 0.000 2117 2291 3381

1678 -0.83 -146.6 174.6 -8.9 78 1685 0.00 2.62 0.00 0.000 4 0.000 0.066 2117 878 3381

1728 -0.91 -146.6 179.1 -9.1 80 1732 0.00 2.60 0.00 0.000 6 0.000 0.054 2117 2297 3381

2055 -0.91 -146.6 208.4 -9.1 96 2056 0.00 0.00 0.00 0.000 6 0.000 0.000 2117 2298 3381

2364 -0.91 -146.6 236.3 -9.0 111 2368 0.00 2.65 0.00 0.000 4 0.000 0.066 2117 876 3382

2431 -0.97 -146.6 242.6 -9.3 114 2436 0.15 2.62 0.00 0.000 6 0.044 0.055 2071 2305 3382

2754 -0.87 -146.6 281.5 -12.5 130 2756 0.20 0.00 0.00 0.000 6 0.091 0.000 2111 2306 3381

3061 -0.87 -146.6 315.7 -11.1 145 3066 0.00 2.67 0.00 0.000 4 0.000 0.067 2111 881 3381

3134 -0.93 -146.6 323.5 -10.9 148 3139 0.00 2.60 0.00 0.000 6 0.000 0.057 2111 2301 3382

3450 -0.93 -146.6 355.0 -9.5 163 3454 0.00 2.67 0.00 0.000 4 0.000 0.067 2111 877 3381

3483 -0.98 -146.6 358.2 -9.7 164 3489 0.12 2.62 0.00 0.000 6 0.049 0.057 2072 2301 3381

3799 -0.88 -146.6 394.1 -11.1 180 3801 0.17 0.00 0.00 0.000 6 0.091 0.000 2106 2302 3381

4108 -0.88 -146.6 422.6 -9.2 195 4112 0.00 2.67 0.00 0.000 4 0.000 0.067 2106 883 3381

4193 -0.93 -146.6 430.1 -8.8 199 4197 0.00 2.62 0.00 0.000 6 0.000 0.057 2106 2301 3381

4519 -0.93 -146.6 460.5 -9.7 215 4523 0.00 2.70 0.00 0.000 4 0.000 0.077 2106 3716 3380

4558 -0.93 -146.6 464.7 -10.9 217 4563 0.00 2.62 0.00 0.000 6 0.000 0.056 2106 2296 3381

4885 -0.93 -146.6 496.5 -9.3 233 4889 0.00 2.65 0.00 0.000 4 0.000 0.071 2106 885 3380

4935 -1.00 -146.6 501.3 -9.5 235 4939 0.00 2.62 0.00 0.000 6 0.000 0.058 2106 2308 3380

5251 -1.00 -146.6 531.8 -10.4 250 5253 0.12 0.00 0.00 0.000 6 0.050 0.000 2069 2308 3380

5557 end dive: BOTTOM_OBSTACLE_DETECTED

state 5557 begin apogee

5564 -0.31 0.0 567.2 11.0 265 5700 0.80 0.00 129.52 1.022 6 0.100 0.000 2229 2197 2781

5701 end apogee: CONTROL_FINISHED_OK

state 5701 begin climb

5704 1.08 146.6 573.5 0.0 272 5840 1.48 0.00 128.10 1.008 6 0.077 0.000 2537 2196 2184

6151 1.12 175.7 549.6 6.9 294 6185 0.00 2.85 26.42 0.965 4 0.000 0.080 2537 3610 2066

6226 1.12 175.7 543.7 8.1 297 6230 0.00 2.65 0.00 0.000 6 0.000 0.062 2537 2203 2065

6542 1.12 176.0 520.0 8.0 312 6546 0.00 2.75 0.00 0.000 4 0.000 0.081 2537 3613 2063

6626 1.12 176.0 512.6 8.8 316 6631 0.00 2.67 0.00 0.000 6 0.000 0.064 2538 2197 2063

6953 1.18 235.2 489.9 5.8 332 7007 0.00 0.00 51.88 0.988 6 0.000 0.000 2537 2197 1822

7302 1.30 272.0 468.8 6.7 349 7345 0.17 2.85 32.67 0.964 4 0.051 0.079 2588 3611 1672

7379 1.23 272.0 461.1 11.4 352 7384 0.00 2.70 0.00 0.000 6 0.000 0.064 2588 2201 1672

7695 1.23 272.0 423.6 12.4 367 7699 0.00 2.72 0.00 0.000 4 0.000 0.078 2588 3612 1671

7767 1.18 272.0 414.6 12.3 370 7772 0.15 2.67 0.00 0.000 6 0.097 0.064 2560 2200 1671

8083 1.18 272.0 384.2 8.9 385 8084 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2200 1670

8392 1.18 272.0 356.2 9.2 400 8393 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2200 1670

8701 1.18 272.0 324.8 10.4 415 8705 0.00 2.72 0.00 0.000 4 0.000 0.076 2560 3619 1670

8756 1.18 272.0 318.3 12.5 417 8762 0.00 2.65 0.00 0.000 6 0.000 0.064 2560 2200 1670

9072 1.18 272.0 284.4 10.7 433 9073 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2200 1670

9381 1.18 272.0 250.1 10.9 448 9385 0.00 2.67 0.00 0.000 4 0.000 0.074 2560 3619 1670

9414 1.18 272.0 246.0 12.3 449 9420 0.00 2.65 0.00 0.000 6 0.000 0.061 2560 2194 1670

9729 1.18 272.0 210.6 11.1 465 9731 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2194 1670

10039 1.18 272.0 177.3 10.5 480 10043 0.00 2.67 0.00 0.000 4 0.000 0.073 2560 3613 1671

10078 1.18 272.0 173.0 10.7 482 10083 0.00 2.62 0.00 0.000 6 0.000 0.060 2560 2197 1671

10405 1.18 272.0 139.8 10.2 498 10407 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2197 1671

10715 1.18 272.0 109.5 9.6 513 10716 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2197 1672

11024 1.18 272.0 80.7 9.2 528 11029 0.00 2.67 0.00 0.000 4 0.000 0.071 2560 3620 1672

11057 1.18 272.0 77.3 10.2 529 11064 0.00 2.62 0.00 0.000 6 0.000 0.059 2560 2194 1672

11375 1.18 272.0 46.4 10.1 545 11376 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2193 1672

11683 1.18 272.0 15.2 9.8 560 11687 0.00 2.67 0.00 0.000 4 0.000 0.071 2560 3616 1673

11723 1.18 272.0 11.1 11.2 562 11727 0.00 2.60 0.00 0.000 6 0.000 0.059 2560 2202 1672

11821 end climb: SURFACE_DEPTH_REACHED

state 11821 begin surface coast

11842 end surface coast: CONTROL_FINISHED_OK

state 11842 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	136	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	16	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	-2095830.9	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	024558,6225.830,-919.104,40,4.1,59,-9.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6225.780,-924.174
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.29	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	025053,6225.780,-919.175,10,2.5,29,-9.7	MHEAD_RNG_PITCHd_Wd	279.7,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.015106	ALTIM_BOTTOM_PING	525.5,50.8
SM_CCo	11864,137.75,0.627,0,0,509,557.32	_24V_AH	23.6,24.764
SM_GC	1.33,0.00,0.00,137.75,0.000,0.000,0.627,71,2314,509,-10.25,0.40,557.32	_10V_AH	10.2,12.307
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28517,568
TT8_MAMPS	0.023777	CAP_FILE_SIZE	86894,0
HUMID	1875	CFSIZE	260165632,250200064
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	26	GPS	040708,061231,6224.620,-924.377,38,1.3,43,-9.8
ALTIM_TOP_PING	19.2,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	168	102.05	SBE_CT	419	24	237.73
Roll_motor	91	82	176.49	SBE_O2	385	19	172.79
VBD_pump_during_apogee	368	1021	8887.24	WL_BB2F	386	105	956.69
VBD_pump_during_surface	137	627	2039.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.45	nil	0	0	0.00
Iridium_during_connect	27	160	104.84	nil	0	0	0.00
Iridium_during_xfer	122	223	645.52
Transponder_ping	11	420	111.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.32
TT8	1057	19	213.48
LPSleep	8939	2	199.70
TT8_Active	668	19	135.03
TT8_Sampling	1259	39	511.20
TT8_CF8	374	45	174.92
TT8_Kalman	0	81	0.00
Analog_circuits	1303	12	159.51
GPS_charging	0	0	0.00
Compass	1214	8	99.06
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	27	begin dive
30	-1.08	-146.6	0.0	0.0	0	153	0.00	0.00	-120.82	0.000	2	0.000	0.000	73	2308	3025
156	-1.08	-146.6	4.3	-3.6	6	181	11.10	2.70	-7.70	0.000	4	0.169	0.082	2055	3707	3379
434	-0.93	-146.6	49.5	-15.1	18	440	0.20	2.60	0.00	0.000	6	0.096	0.053	2093	2291	3380
751	-0.88	-146.6	84.8	-10.6	33	752	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	2291	3380
1060	-0.88	-146.6	115.6	-10.1	48	1061	0.00	0.00	0.00	0.000	6	0.000	0.000	2093	2292	3381
1371	-0.83	-146.6	148.0	-10.6	63	1372	0.12	0.00	0.00	0.000	6	0.105	0.000	2117	2291	3381
1678	-0.83	-146.6	174.6	-8.9	78	1685	0.00	2.62	0.00	0.000	4	0.000	0.066	2117	878	3381
1728	-0.91	-146.6	179.1	-9.1	80	1732	0.00	2.60	0.00	0.000	6	0.000	0.054	2117	2297	3381
2055	-0.91	-146.6	208.4	-9.1	96	2056	0.00	0.00	0.00	0.000	6	0.000	0.000	2117	2298	3381
2364	-0.91	-146.6	236.3	-9.0	111	2368	0.00	2.65	0.00	0.000	4	0.000	0.066	2117	876	3382
2431	-0.97	-146.6	242.6	-9.3	114	2436	0.15	2.62	0.00	0.000	6	0.044	0.055	2071	2305	3382
2754	-0.87	-146.6	281.5	-12.5	130	2756	0.20	0.00	0.00	0.000	6	0.091	0.000	2111	2306	3381
3061	-0.87	-146.6	315.7	-11.1	145	3066	0.00	2.67	0.00	0.000	4	0.000	0.067	2111	881	3381
3134	-0.93	-146.6	323.5	-10.9	148	3139	0.00	2.60	0.00	0.000	6	0.000	0.057	2111	2301	3382
3450	-0.93	-146.6	355.0	-9.5	163	3454	0.00	2.67	0.00	0.000	4	0.000	0.067	2111	877	3381
3483	-0.98	-146.6	358.2	-9.7	164	3489	0.12	2.62	0.00	0.000	6	0.049	0.057	2072	2301	3381
3799	-0.88	-146.6	394.1	-11.1	180	3801	0.17	0.00	0.00	0.000	6	0.091	0.000	2106	2302	3381
4108	-0.88	-146.6	422.6	-9.2	195	4112	0.00	2.67	0.00	0.000	4	0.000	0.067	2106	883	3381
4193	-0.93	-146.6	430.1	-8.8	199	4197	0.00	2.62	0.00	0.000	6	0.000	0.057	2106	2301	3381
4519	-0.93	-146.6	460.5	-9.7	215	4523	0.00	2.70	0.00	0.000	4	0.000	0.077	2106	3716	3380
4558	-0.93	-146.6	464.7	-10.9	217	4563	0.00	2.62	0.00	0.000	6	0.000	0.056	2106	2296	3381
4885	-0.93	-146.6	496.5	-9.3	233	4889	0.00	2.65	0.00	0.000	4	0.000	0.071	2106	885	3380
4935	-1.00	-146.6	501.3	-9.5	235	4939	0.00	2.62	0.00	0.000	6	0.000	0.058	2106	2308	3380
5251	-1.00	-146.6	531.8	-10.4	250	5253	0.12	0.00	0.00	0.000	6	0.050	0.000	2069	2308	3380
5557	end dive: BOTTOM_OBSTACLE_DETECTED
state	5557	begin apogee
5564	-0.31	0.0	567.2	11.0	265	5700	0.80	0.00	129.52	1.022	6	0.100	0.000	2229	2197	2781
5701	end apogee: CONTROL_FINISHED_OK
state	5701	begin climb
5704	1.08	146.6	573.5	0.0	272	5840	1.48	0.00	128.10	1.008	6	0.077	0.000	2537	2196	2184
6151	1.12	175.7	549.6	6.9	294	6185	0.00	2.85	26.42	0.965	4	0.000	0.080	2537	3610	2066
6226	1.12	175.7	543.7	8.1	297	6230	0.00	2.65	0.00	0.000	6	0.000	0.062	2537	2203	2065
6542	1.12	176.0	520.0	8.0	312	6546	0.00	2.75	0.00	0.000	4	0.000	0.081	2537	3613	2063
6626	1.12	176.0	512.6	8.8	316	6631	0.00	2.67	0.00	0.000	6	0.000	0.064	2538	2197	2063
6953	1.18	235.2	489.9	5.8	332	7007	0.00	0.00	51.88	0.988	6	0.000	0.000	2537	2197	1822
7302	1.30	272.0	468.8	6.7	349	7345	0.17	2.85	32.67	0.964	4	0.051	0.079	2588	3611	1672
7379	1.23	272.0	461.1	11.4	352	7384	0.00	2.70	0.00	0.000	6	0.000	0.064	2588	2201	1672
7695	1.23	272.0	423.6	12.4	367	7699	0.00	2.72	0.00	0.000	4	0.000	0.078	2588	3612	1671
7767	1.18	272.0	414.6	12.3	370	7772	0.15	2.67	0.00	0.000	6	0.097	0.064	2560	2200	1671
8083	1.18	272.0	384.2	8.9	385	8084	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2200	1670
8392	1.18	272.0	356.2	9.2	400	8393	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2200	1670
8701	1.18	272.0	324.8	10.4	415	8705	0.00	2.72	0.00	0.000	4	0.000	0.076	2560	3619	1670
8756	1.18	272.0	318.3	12.5	417	8762	0.00	2.65	0.00	0.000	6	0.000	0.064	2560	2200	1670
9072	1.18	272.0	284.4	10.7	433	9073	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2200	1670
9381	1.18	272.0	250.1	10.9	448	9385	0.00	2.67	0.00	0.000	4	0.000	0.074	2560	3619	1670
9414	1.18	272.0	246.0	12.3	449	9420	0.00	2.65	0.00	0.000	6	0.000	0.061	2560	2194	1670
9729	1.18	272.0	210.6	11.1	465	9731	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2194	1670
10039	1.18	272.0	177.3	10.5	480	10043	0.00	2.67	0.00	0.000	4	0.000	0.073	2560	3613	1671
10078	1.18	272.0	173.0	10.7	482	10083	0.00	2.62	0.00	0.000	6	0.000	0.060	2560	2197	1671
10405	1.18	272.0	139.8	10.2	498	10407	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2197	1671
10715	1.18	272.0	109.5	9.6	513	10716	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2197	1672
11024	1.18	272.0	80.7	9.2	528	11029	0.00	2.67	0.00	0.000	4	0.000	0.071	2560	3620	1672
11057	1.18	272.0	77.3	10.2	529	11064	0.00	2.62	0.00	0.000	6	0.000	0.059	2560	2194	1672
11375	1.18	272.0	46.4	10.1	545	11376	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2193	1672
11683	1.18	272.0	15.2	9.8	560	11687	0.00	2.67	0.00	0.000	4	0.000	0.071	2560	3616	1673
11723	1.18	272.0	11.1	11.2	562	11727	0.00	2.60	0.00	0.000	6	0.000	0.059	2560	2202	1672
11821	end climb: SURFACE_DEPTH_REACHED
state	11821	begin surface coast
11842	end surface coast: CONTROL_FINISHED_OK
state	11842	begin surface