Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 152 * 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 152 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 566.1524 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 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -2078632.1 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 1 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 566.1524

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 -2078632.1

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 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 1 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 152 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 112207,6244.656,-947.288,27,1.2,27,-10.1 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.195,0.105

_SM_DEPTHo 1.24 KALMAN_X -127494.6,1314.4,553.1,88936.0,-14812.2

_SM_ANGLEo -51.6 KALMAN_Y 116764.9,292.1,116.3,5805.9,-1458.1

GPS2 112709,6244.607,-947.274,13,1.6,13,-10.1 MHEAD_RNG_PITCHd_Wd 71.8,11729,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.010813 ALTIM_BOTTOM_PING 400.3,96.0

SM_CCo 12774,172.12,0.677,1,0,508,566.15 _24V_AH 23.6,26.974

SM_GC 1.34,0.00,0.00,172.12,0.000,0.000,0.677,73,2404,508,-10.75,0.11,566.15 _10V_AH 10.2,12.999

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31691,620

TT8_MAMPS 0.023777 CFSIZE 260165632,250634240

HUMID 2080 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,1,0

TCM_TEMP 15.70 GPS 091207,150509,6244.322,-945.476,41,1.9,42,-10.1

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 102.89 SBE_CT 436 24 247.13

Roll_motor 80 85 161.79 SBE_O2 435 19 195.46

VBD_pump_during_apogee 329 1009 7850.87 WL_BB2F 466 105 1154.97

VBD_pump_during_surface 172 677 2751.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.53 nil 0 0 0.00

Iridium_during_connect 48 160 182.66 nil 0 0 0.00

Iridium_during_xfer 133 223 701.71

Transponder_ping 4 420 42.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.67

TT8 1098 19 221.77

LPSleep 9929 2 221.80

TT8_Active 652 19 131.84

TT8_Sampling 1247 39 506.59

TT8_CF8 336 45 157.07

TT8_Kalman 33 81 27.84

Analog_circuits 1268 12 155.21

GPS_charging 0 0 0.00

Compass 1228 8 100.28

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -102.50 0.000 2 0.000 0.000 67 2407 3128

126 -0.85 -146.6 4.1 -3.0 5 151 12.18 2.75 -6.53 0.000 4 0.172 0.085 2223 985 3417

201 -0.85 -146.6 14.5 -7.8 8 205 0.00 2.62 0.00 0.000 6 0.000 0.057 2223 2401 3418

523 -0.85 -146.6 41.0 -8.7 24 527 0.00 2.70 0.00 0.000 4 0.000 0.076 2223 977 3418

561 -0.85 -146.6 45.8 -13.4 26 566 0.00 2.60 0.00 0.000 6 0.000 0.058 2223 2400 3418

887 -0.85 -146.6 81.2 -9.5 42 888 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2400 3418

1197 -0.85 -146.6 103.1 -6.0 57 1202 0.00 2.70 0.00 0.000 4 0.000 0.076 2223 981 3418

1236 -0.85 -146.6 105.5 -6.0 59 1241 0.00 2.60 0.00 0.000 6 0.000 0.060 2223 2406 3418

1562 -0.85 -146.6 125.6 -6.8 75 1563 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2406 3418

1871 -0.85 -146.6 145.7 -6.6 90 1876 0.00 2.70 0.00 0.000 4 0.000 0.074 2223 977 3418

1925 -0.85 -146.6 149.2 -6.0 92 1933 0.00 2.62 0.00 0.000 6 0.000 0.056 2223 2401 3418

2241 -0.85 -146.6 167.7 -6.6 108 2242 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2401 3418

2551 -0.85 -146.6 185.4 -5.8 123 2552 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2401 3418

2859 -0.85 -146.6 207.4 -8.3 138 2864 0.00 2.67 0.00 0.000 4 0.000 0.074 2223 982 3418

2891 -0.85 -146.6 211.2 -11.5 139 2898 0.00 2.60 0.00 0.000 6 0.000 0.055 2223 2400 3418

3207 -0.85 -146.6 237.8 -7.7 155 3208 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2400 3418

3516 -0.85 -146.6 257.2 -6.9 170 3517 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2400 3418

3826 -0.85 -146.6 280.1 -8.9 185 3827 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2400 3418

4135 -0.85 -146.6 302.9 -8.1 200 4136 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2400 3418

4444 -0.85 -146.6 327.2 -8.7 215 4445 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2400 3418

4753 -0.85 -146.6 354.5 -8.4 230 4754 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2400 3418

5063 -0.85 -146.6 377.1 -6.9 245 5064 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2400 3418

5372 -0.85 -146.6 397.1 -6.5 260 5376 0.00 2.65 0.00 0.000 4 0.000 0.070 2223 982 3418

5433 -0.85 -146.6 401.0 -6.0 263 5438 0.00 2.58 0.00 0.000 6 0.000 0.056 2223 2398 3418

5759 -0.85 -146.6 417.3 -4.4 279 5760 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2398 3418

6067 -0.85 -146.6 435.2 -7.3 294 6072 0.00 2.65 0.00 0.000 4 0.000 0.073 2223 982 3418

6129 -0.85 -146.6 440.2 -8.7 297 6133 0.00 2.60 0.00 0.000 6 0.000 0.059 2223 2408 3418

6454 -0.85 -146.6 465.2 -7.3 313 6458 0.00 2.72 0.00 0.000 4 0.000 0.078 2223 979 3418

6525 -0.85 -146.6 470.7 -7.3 316 6530 0.00 2.65 0.00 0.000 6 0.000 0.064 2223 2401 3417

6762 end dive: BOTTOM_OBSTACLE_DETECTED

state 6762 begin apogee

6767 -0.31 0.0 487.6 7.1 328 6889 0.57 0.00 118.85 1.009 6 0.109 0.000 2337 2195 2816

6890 end apogee: CONTROL_FINISHED_OK

state 6890 begin climb

6892 0.85 146.6 491.6 0.0 334 7013 1.27 0.00 117.15 0.989 6 0.093 0.000 2593 2195 2218

7313 0.85 146.6 468.6 7.0 355 7314 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2196 2217

7622 0.85 146.6 445.5 7.2 370 7624 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2195 2216

7932 0.93 223.9 429.5 3.9 385 7998 0.00 2.78 60.75 0.966 4 0.000 0.081 2593 785 1904

8042 0.97 263.8 425.0 4.9 390 8083 0.12 2.65 32.83 0.936 6 0.068 0.059 2623 2198 1741

8405 0.97 263.8 397.0 9.5 408 8406 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2198 1739

8713 0.97 263.8 362.2 10.9 423 8718 0.00 2.72 0.00 0.000 4 0.000 0.081 2623 785 1738

8740 0.97 263.8 359.2 11.5 424 8744 0.00 2.62 0.00 0.000 6 0.000 0.057 2623 2200 1737

9061 0.97 263.8 331.5 8.4 440 9062 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2199 1738

9370 0.97 263.8 302.1 9.8 455 9374 0.00 2.72 0.00 0.000 4 0.000 0.077 2623 777 1737

9425 0.97 263.8 296.3 10.7 457 9431 0.00 2.62 0.00 0.000 6 0.000 0.054 2623 2207 1738

9740 0.97 263.8 265.8 9.6 473 9741 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2207 1737

10049 0.97 263.8 235.0 10.6 488 10053 0.00 2.72 0.00 0.000 4 0.000 0.077 2622 781 1737

10080 0.97 263.8 231.5 10.6 489 10087 0.00 2.62 0.00 0.000 6 0.000 0.053 2623 2196 1737

10396 0.97 263.8 198.8 9.9 505 10397 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2196 1736

10705 0.97 263.8 170.9 10.5 520 10706 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2196 1738

11015 0.97 263.8 139.7 10.7 535 11019 0.00 2.70 0.00 0.000 4 0.000 0.077 2623 780 1738

11041 0.97 263.8 137.2 9.6 536 11045 0.00 2.60 0.00 0.000 6 0.000 0.052 2623 2207 1738

11362 0.97 263.8 112.6 7.1 552 11363 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2207 1738

11672 0.97 263.8 88.3 9.0 567 11676 0.00 2.70 0.00 0.000 4 0.000 0.076 2623 784 1738

11710 0.97 263.8 84.2 10.7 569 11715 0.00 2.58 0.00 0.000 6 0.000 0.051 2623 2205 1738

12036 0.97 263.8 59.5 8.6 585 12037 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2204 1738

12345 0.97 263.8 33.8 7.9 600 12350 0.00 2.70 0.00 0.000 4 0.000 0.077 2623 783 1739

12372 0.97 263.8 31.4 8.9 601 12376 0.00 2.58 0.00 0.000 6 0.000 0.054 2623 2200 1739

12693 0.97 263.8 6.0 9.4 617 12695 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2199 1739

12733 end climb: SURFACE_DEPTH_REACHED

state 12733 begin surface coast

12755 end surface coast: CONTROL_FINISHED_OK

state 12755 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	152	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	566.1524	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	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-2078632.1	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	1	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	112207,6244.656,-947.288,27,1.2,27,-10.1	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.195,0.105
_SM_DEPTHo	1.24	KALMAN_X	-127494.6,1314.4,553.1,88936.0,-14812.2
_SM_ANGLEo	-51.6	KALMAN_Y	116764.9,292.1,116.3,5805.9,-1458.1
GPS2	112709,6244.607,-947.274,13,1.6,13,-10.1	MHEAD_RNG_PITCHd_Wd	71.8,11729,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.9,1.010813	ALTIM_BOTTOM_PING	400.3,96.0
SM_CCo	12774,172.12,0.677,1,0,508,566.15	_24V_AH	23.6,26.974
SM_GC	1.34,0.00,0.00,172.12,0.000,0.000,0.677,73,2404,508,-10.75,0.11,566.15	_10V_AH	10.2,12.999
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31691,620
TT8_MAMPS	0.023777	CFSIZE	260165632,250634240
HUMID	2080	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
TCM_TEMP	15.70	GPS	091207,150509,6244.322,-945.476,41,1.9,42,-10.1
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	102.89	SBE_CT	436	24	247.13
Roll_motor	80	85	161.79	SBE_O2	435	19	195.46
VBD_pump_during_apogee	329	1009	7850.87	WL_BB2F	466	105	1154.97
VBD_pump_during_surface	172	677	2751.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.53	nil	0	0	0.00
Iridium_during_connect	48	160	182.66	nil	0	0	0.00
Iridium_during_xfer	133	223	701.71
Transponder_ping	4	420	42.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.67
TT8	1098	19	221.77
LPSleep	9929	2	221.80
TT8_Active	652	19	131.84
TT8_Sampling	1247	39	506.59
TT8_CF8	336	45	157.07
TT8_Kalman	33	81	27.84
Analog_circuits	1268	12	155.21
GPS_charging	0	0	0.00
Compass	1228	8	100.28
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-102.50	0.000	2	0.000	0.000	67	2407	3128
126	-0.85	-146.6	4.1	-3.0	5	151	12.18	2.75	-6.53	0.000	4	0.172	0.085	2223	985	3417
201	-0.85	-146.6	14.5	-7.8	8	205	0.00	2.62	0.00	0.000	6	0.000	0.057	2223	2401	3418
523	-0.85	-146.6	41.0	-8.7	24	527	0.00	2.70	0.00	0.000	4	0.000	0.076	2223	977	3418
561	-0.85	-146.6	45.8	-13.4	26	566	0.00	2.60	0.00	0.000	6	0.000	0.058	2223	2400	3418
887	-0.85	-146.6	81.2	-9.5	42	888	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2400	3418
1197	-0.85	-146.6	103.1	-6.0	57	1202	0.00	2.70	0.00	0.000	4	0.000	0.076	2223	981	3418
1236	-0.85	-146.6	105.5	-6.0	59	1241	0.00	2.60	0.00	0.000	6	0.000	0.060	2223	2406	3418
1562	-0.85	-146.6	125.6	-6.8	75	1563	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2406	3418
1871	-0.85	-146.6	145.7	-6.6	90	1876	0.00	2.70	0.00	0.000	4	0.000	0.074	2223	977	3418
1925	-0.85	-146.6	149.2	-6.0	92	1933	0.00	2.62	0.00	0.000	6	0.000	0.056	2223	2401	3418
2241	-0.85	-146.6	167.7	-6.6	108	2242	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2401	3418
2551	-0.85	-146.6	185.4	-5.8	123	2552	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2401	3418
2859	-0.85	-146.6	207.4	-8.3	138	2864	0.00	2.67	0.00	0.000	4	0.000	0.074	2223	982	3418
2891	-0.85	-146.6	211.2	-11.5	139	2898	0.00	2.60	0.00	0.000	6	0.000	0.055	2223	2400	3418
3207	-0.85	-146.6	237.8	-7.7	155	3208	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2400	3418
3516	-0.85	-146.6	257.2	-6.9	170	3517	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2400	3418
3826	-0.85	-146.6	280.1	-8.9	185	3827	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2400	3418
4135	-0.85	-146.6	302.9	-8.1	200	4136	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2400	3418
4444	-0.85	-146.6	327.2	-8.7	215	4445	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2400	3418
4753	-0.85	-146.6	354.5	-8.4	230	4754	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2400	3418
5063	-0.85	-146.6	377.1	-6.9	245	5064	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2400	3418
5372	-0.85	-146.6	397.1	-6.5	260	5376	0.00	2.65	0.00	0.000	4	0.000	0.070	2223	982	3418
5433	-0.85	-146.6	401.0	-6.0	263	5438	0.00	2.58	0.00	0.000	6	0.000	0.056	2223	2398	3418
5759	-0.85	-146.6	417.3	-4.4	279	5760	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2398	3418
6067	-0.85	-146.6	435.2	-7.3	294	6072	0.00	2.65	0.00	0.000	4	0.000	0.073	2223	982	3418
6129	-0.85	-146.6	440.2	-8.7	297	6133	0.00	2.60	0.00	0.000	6	0.000	0.059	2223	2408	3418
6454	-0.85	-146.6	465.2	-7.3	313	6458	0.00	2.72	0.00	0.000	4	0.000	0.078	2223	979	3418
6525	-0.85	-146.6	470.7	-7.3	316	6530	0.00	2.65	0.00	0.000	6	0.000	0.064	2223	2401	3417
6762	end dive: BOTTOM_OBSTACLE_DETECTED
state	6762	begin apogee
6767	-0.31	0.0	487.6	7.1	328	6889	0.57	0.00	118.85	1.009	6	0.109	0.000	2337	2195	2816
6890	end apogee: CONTROL_FINISHED_OK
state	6890	begin climb
6892	0.85	146.6	491.6	0.0	334	7013	1.27	0.00	117.15	0.989	6	0.093	0.000	2593	2195	2218
7313	0.85	146.6	468.6	7.0	355	7314	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2196	2217
7622	0.85	146.6	445.5	7.2	370	7624	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2195	2216
7932	0.93	223.9	429.5	3.9	385	7998	0.00	2.78	60.75	0.966	4	0.000	0.081	2593	785	1904
8042	0.97	263.8	425.0	4.9	390	8083	0.12	2.65	32.83	0.936	6	0.068	0.059	2623	2198	1741
8405	0.97	263.8	397.0	9.5	408	8406	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2198	1739
8713	0.97	263.8	362.2	10.9	423	8718	0.00	2.72	0.00	0.000	4	0.000	0.081	2623	785	1738
8740	0.97	263.8	359.2	11.5	424	8744	0.00	2.62	0.00	0.000	6	0.000	0.057	2623	2200	1737
9061	0.97	263.8	331.5	8.4	440	9062	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2199	1738
9370	0.97	263.8	302.1	9.8	455	9374	0.00	2.72	0.00	0.000	4	0.000	0.077	2623	777	1737
9425	0.97	263.8	296.3	10.7	457	9431	0.00	2.62	0.00	0.000	6	0.000	0.054	2623	2207	1738
9740	0.97	263.8	265.8	9.6	473	9741	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2207	1737
10049	0.97	263.8	235.0	10.6	488	10053	0.00	2.72	0.00	0.000	4	0.000	0.077	2622	781	1737
10080	0.97	263.8	231.5	10.6	489	10087	0.00	2.62	0.00	0.000	6	0.000	0.053	2623	2196	1737
10396	0.97	263.8	198.8	9.9	505	10397	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2196	1736
10705	0.97	263.8	170.9	10.5	520	10706	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2196	1738
11015	0.97	263.8	139.7	10.7	535	11019	0.00	2.70	0.00	0.000	4	0.000	0.077	2623	780	1738
11041	0.97	263.8	137.2	9.6	536	11045	0.00	2.60	0.00	0.000	6	0.000	0.052	2623	2207	1738
11362	0.97	263.8	112.6	7.1	552	11363	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2207	1738
11672	0.97	263.8	88.3	9.0	567	11676	0.00	2.70	0.00	0.000	4	0.000	0.076	2623	784	1738
11710	0.97	263.8	84.2	10.7	569	11715	0.00	2.58	0.00	0.000	6	0.000	0.051	2623	2205	1738
12036	0.97	263.8	59.5	8.6	585	12037	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2204	1738
12345	0.97	263.8	33.8	7.9	600	12350	0.00	2.70	0.00	0.000	4	0.000	0.077	2623	783	1739
12372	0.97	263.8	31.4	8.9	601	12376	0.00	2.58	0.00	0.000	6	0.000	0.054	2623	2200	1739
12693	0.97	263.8	6.0	9.4	617	12695	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2199	1739
12733	end climb: SURFACE_DEPTH_REACHED
state	12733	begin surface coast
12755	end surface coast: CONTROL_FINISHED_OK
state	12755	begin surface