Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 185 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 185 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 547.01898 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 25 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 3 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 600 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 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 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 -80089.969 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 21

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

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 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 547.01898

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 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 -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

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 5

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 -80089.969

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 440

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 600

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 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 25 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 22 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 185 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-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 021708,6203.626,-901.300,32,2.0,32,-9.4 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.105,-0.195

_SM_DEPTHo 0.56 KALMAN_X 1988.9,450.4,-240.1,71.0,2112.6

_SM_ANGLEo -55.0 KALMAN_Y 2399.6,546.6,-164.7,-9844.5,2370.2

GPS2 022502,6203.571,-901.377,14,1.3,14,-9.4 MHEAD_RNG_PITCHd_Wd 217.7,42647,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.2,1.001545 ALTIM_BOTTOM_PING 425.9,22.2

SM_CCo 10649,211.68,0.767,0,0,390,547.02 _24V_AH 24.0,36.417

SM_GC 0.42,0.00,0.00,211.68,0.000,0.000,0.767,418,2180,390,-10.50,0.85,547.02 _10V_AH 10.1,17.403

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 25380,510

TT8_MAMPS 0.029146 CAP_FILE_SIZE 88727,0

HUMID 1667 CFSIZE 254472192,239882240

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,0,0

XPDR_PINGS 401 GPS 170708,052808,6201.481,-902.570,36,1.0,36,-9.4

ALTIM_TOP_PING 19.0,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 146 87.46 SBE_CT 348 24 200.93

Roll_motor 98 79 188.38 SBE_O2 376 19 171.80

VBD_pump_during_apogee 255 1082 6642.77 WL_BB2F 402 105 1014.83

VBD_pump_during_surface 211 767 3896.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 186.69 nil 0 0 0.00

Iridium_during_connect 59 160 230.08 nil 0 0 0.00

Iridium_during_xfer 162 223 869.54

Transponder_ping 103 420 1045.80

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.07

TT8 996 19 199.37

LPSleep 7978 2 176.48

TT8_Active 610 19 122.10

TT8_Sampling 1230 39 494.45

TT8_CF8 525 45 243.11

TT8_Kalman 31 81 25.97

Analog_circuits 1234 12 149.62

GPS_charging 0 0 0.00

Compass 1207 8 97.58

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.30 -117.3 0.0 0.0 0 138 0.00 0.00 -111.22 0.000 6 0.000 0.000 426 2178 3098

142 -1.30 -117.3 2.0 -1.6 5 158 10.45 2.47 0.00 0.000 4 0.146 0.057 2408 3558 3097

323 -0.97 -117.3 29.7 -13.5 12 328 0.40 2.50 0.00 0.000 6 0.098 0.044 2489 2145 3096

646 -0.89 -117.3 57.4 -8.2 28 650 0.00 2.50 0.00 0.000 4 0.000 0.058 2489 746 3096

735 -0.79 -117.3 65.5 -8.9 32 740 0.17 2.45 0.00 0.000 6 0.091 0.049 2525 2120 3096

1059 -0.79 -117.3 89.4 -7.9 48 1063 0.00 2.50 0.00 0.000 4 0.000 0.060 2525 751 3096

1131 -0.79 -117.3 96.0 -8.9 51 1135 0.00 2.42 0.00 0.000 6 0.000 0.049 2525 2107 3096

1447 -0.79 -117.3 122.9 -8.8 66 1451 0.00 2.47 0.00 0.000 4 0.000 0.059 2525 747 3096

1457 -0.79 -117.3 124.1 -9.0 66 1463 0.00 2.42 0.00 0.000 6 0.000 0.051 2525 2100 3096

1774 -0.84 -117.3 152.6 -8.8 82 1778 0.00 2.47 0.00 0.000 4 0.000 0.060 2525 743 3096

1813 -0.84 -117.3 156.4 -9.4 84 1817 0.00 2.42 0.00 0.000 6 0.000 0.051 2525 2097 3096

2141 -0.84 -117.3 185.6 -8.7 100 2145 0.00 2.45 0.00 0.000 4 0.000 0.063 2525 749 3096

2180 -0.84 -117.3 189.1 -9.6 102 2184 0.00 2.38 0.00 0.000 6 0.000 0.051 2525 2079 3096

2507 -0.84 -117.3 214.3 -7.1 118 2511 0.00 2.42 0.00 0.000 4 0.000 0.064 2525 751 3096

2574 -0.84 -117.3 219.1 -7.9 121 2578 0.00 2.38 0.00 0.000 6 0.000 0.051 2525 2078 3096

2901 -0.88 -117.3 237.9 -5.9 137 2906 0.00 2.45 0.00 0.000 4 0.000 0.064 2525 743 3095

2920 -0.92 -117.3 238.8 -5.7 138 2925 0.12 2.38 0.00 0.000 6 0.051 0.053 2488 2065 3095

3249 -0.86 -117.3 259.2 -5.9 154 3251 0.12 0.00 0.00 0.000 6 0.097 0.000 2514 2065 3094

3556 -0.86 -117.3 278.3 -7.1 169 3557 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2065 3095

3865 -0.86 -117.3 304.5 -9.1 184 3866 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2065 3095

4174 -0.86 -117.3 332.8 -9.1 199 4178 0.00 2.40 0.00 0.000 4 0.000 0.064 2514 749 3095

4184 -0.86 -117.3 333.9 -9.2 199 4190 0.00 2.38 0.00 0.000 6 0.000 0.053 2514 2072 3094

4501 -0.86 -117.3 362.2 -8.9 215 4505 0.00 2.45 0.00 0.000 4 0.000 0.065 2514 741 3094

4568 -0.86 -117.3 368.4 -8.8 218 4572 0.00 2.35 0.00 0.000 6 0.000 0.053 2514 2049 3094

4889 -0.86 -117.3 395.6 -8.3 234 4893 0.00 2.38 0.00 0.000 4 0.000 0.065 2514 751 3094

5019 -0.86 -117.3 406.1 -8.6 240 5023 0.00 2.30 0.00 0.000 6 0.000 0.052 2514 2034 3094

5346 -0.86 -117.3 430.0 -6.8 256 5348 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2035 3094

5487 end dive: BOTTOM_OBSTACLE_DETECTED

state 5487 begin apogee

5495 -0.33 0.0 438.2 5.4 263 5595 0.52 0.00 97.05 1.082 6 0.082 0.000 2624 2101 2620

5596 end apogee: CONTROL_FINISHED_OK

state 5596 begin climb

5599 1.30 117.3 440.0 0.0 268 5705 1.65 2.65 96.32 1.055 4 0.068 0.063 2980 3503 2140

5772 1.30 117.3 425.5 10.6 276 5777 0.00 2.55 0.00 0.000 6 0.000 0.051 2980 2096 2140

6094 1.30 117.3 394.2 9.9 292 6098 0.00 2.58 0.00 0.000 4 0.000 0.064 2980 3504 2140

6183 1.30 117.3 384.6 10.7 296 6187 0.00 2.50 0.00 0.000 6 0.000 0.051 2980 2110 2139

6504 1.30 117.3 353.5 9.5 312 6505 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2111 2139

6813 1.30 117.3 325.0 9.4 327 6817 0.00 2.55 0.00 0.000 4 0.000 0.061 2980 3504 2139

6902 1.30 117.3 315.3 10.3 331 6906 0.00 2.47 0.00 0.000 6 0.000 0.051 2980 2130 2139

7223 1.30 117.3 283.4 9.6 347 7224 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2130 2139

7532 1.31 119.4 258.2 7.9 362 7536 0.00 2.53 0.00 0.000 4 0.000 0.061 2980 3506 2139

7610 1.31 119.4 251.6 8.5 365 7616 0.00 2.45 0.00 0.000 6 0.000 0.050 2980 2135 2139

7926 1.31 119.4 226.5 8.1 381 7930 0.00 2.50 0.00 0.000 4 0.000 0.060 2980 3505 2139

7995 1.31 119.4 220.6 8.6 384 7999 0.00 2.42 0.00 0.000 6 0.000 0.049 2980 2150 2138

8316 1.31 123.2 195.0 7.8 400 8330 0.00 2.65 6.30 0.759 4 0.000 0.063 2980 682 2116

8371 1.31 123.2 190.0 9.0 402 8375 0.00 2.65 0.00 0.000 6 0.000 0.052 2980 2161 2116

8686 1.31 123.2 163.7 8.0 417 8690 0.00 2.42 0.00 0.000 4 0.000 0.061 2980 3511 2116

8794 1.31 123.2 154.4 8.3 422 8798 0.00 2.38 0.00 0.000 6 0.000 0.048 2979 2172 2115

9122 1.36 154.6 131.2 6.6 438 9150 0.00 0.00 26.27 0.866 6 0.000 0.000 2980 2171 1989

9452 1.47 190.8 109.9 6.4 454 9488 0.15 2.50 29.80 0.854 4 0.046 0.060 3029 3510 1842

9551 1.40 190.8 100.1 10.5 458 9555 0.15 2.40 0.00 0.000 6 0.089 0.048 3002 2180 1842

9868 1.40 190.8 73.1 8.9 473 9869 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2180 1841

10176 1.40 190.8 43.6 10.4 488 10178 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2179 1841

10485 1.40 190.8 12.8 10.0 503 10489 0.00 2.40 0.00 0.000 4 0.000 0.058 3002 3506 1841

10575 1.40 190.8 3.0 9.3 507 10579 0.00 2.35 0.00 0.000 6 0.000 0.049 3002 2194 1841

10604 end climb: SURFACE_DEPTH_REACHED

state 10604 begin surface coast

10626 end surface coast: CONTROL_FINISHED_OK

state 10626 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	185	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	547.01898	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	25	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	3	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	600	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	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	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	-80089.969	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	21
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	3	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	021708,6203.626,-901.300,32,2.0,32,-9.4	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.105,-0.195
_SM_DEPTHo	0.56	KALMAN_X	1988.9,450.4,-240.1,71.0,2112.6
_SM_ANGLEo	-55.0	KALMAN_Y	2399.6,546.6,-164.7,-9844.5,2370.2
GPS2	022502,6203.571,-901.377,14,1.3,14,-9.4	MHEAD_RNG_PITCHd_Wd	217.7,42647,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.2,1.001545	ALTIM_BOTTOM_PING	425.9,22.2
SM_CCo	10649,211.68,0.767,0,0,390,547.02	_24V_AH	24.0,36.417
SM_GC	0.42,0.00,0.00,211.68,0.000,0.000,0.767,418,2180,390,-10.50,0.85,547.02	_10V_AH	10.1,17.403
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	25380,510
TT8_MAMPS	0.029146	CAP_FILE_SIZE	88727,0
HUMID	1667	CFSIZE	254472192,239882240
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
XPDR_PINGS	401	GPS	170708,052808,6201.481,-902.570,36,1.0,36,-9.4
ALTIM_TOP_PING	19.0,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	146	87.46	SBE_CT	348	24	200.93
Roll_motor	98	79	188.38	SBE_O2	376	19	171.80
VBD_pump_during_apogee	255	1082	6642.77	WL_BB2F	402	105	1014.83
VBD_pump_during_surface	211	767	3896.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	186.69	nil	0	0	0.00
Iridium_during_connect	59	160	230.08	nil	0	0	0.00
Iridium_during_xfer	162	223	869.54
Transponder_ping	103	420	1045.80
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.07
TT8	996	19	199.37
LPSleep	7978	2	176.48
TT8_Active	610	19	122.10
TT8_Sampling	1230	39	494.45
TT8_CF8	525	45	243.11
TT8_Kalman	31	81	25.97
Analog_circuits	1234	12	149.62
GPS_charging	0	0	0.00
Compass	1207	8	97.58
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.30	-117.3	0.0	0.0	0	138	0.00	0.00	-111.22	0.000	6	0.000	0.000	426	2178	3098
142	-1.30	-117.3	2.0	-1.6	5	158	10.45	2.47	0.00	0.000	4	0.146	0.057	2408	3558	3097
323	-0.97	-117.3	29.7	-13.5	12	328	0.40	2.50	0.00	0.000	6	0.098	0.044	2489	2145	3096
646	-0.89	-117.3	57.4	-8.2	28	650	0.00	2.50	0.00	0.000	4	0.000	0.058	2489	746	3096
735	-0.79	-117.3	65.5	-8.9	32	740	0.17	2.45	0.00	0.000	6	0.091	0.049	2525	2120	3096
1059	-0.79	-117.3	89.4	-7.9	48	1063	0.00	2.50	0.00	0.000	4	0.000	0.060	2525	751	3096
1131	-0.79	-117.3	96.0	-8.9	51	1135	0.00	2.42	0.00	0.000	6	0.000	0.049	2525	2107	3096
1447	-0.79	-117.3	122.9	-8.8	66	1451	0.00	2.47	0.00	0.000	4	0.000	0.059	2525	747	3096
1457	-0.79	-117.3	124.1	-9.0	66	1463	0.00	2.42	0.00	0.000	6	0.000	0.051	2525	2100	3096
1774	-0.84	-117.3	152.6	-8.8	82	1778	0.00	2.47	0.00	0.000	4	0.000	0.060	2525	743	3096
1813	-0.84	-117.3	156.4	-9.4	84	1817	0.00	2.42	0.00	0.000	6	0.000	0.051	2525	2097	3096
2141	-0.84	-117.3	185.6	-8.7	100	2145	0.00	2.45	0.00	0.000	4	0.000	0.063	2525	749	3096
2180	-0.84	-117.3	189.1	-9.6	102	2184	0.00	2.38	0.00	0.000	6	0.000	0.051	2525	2079	3096
2507	-0.84	-117.3	214.3	-7.1	118	2511	0.00	2.42	0.00	0.000	4	0.000	0.064	2525	751	3096
2574	-0.84	-117.3	219.1	-7.9	121	2578	0.00	2.38	0.00	0.000	6	0.000	0.051	2525	2078	3096
2901	-0.88	-117.3	237.9	-5.9	137	2906	0.00	2.45	0.00	0.000	4	0.000	0.064	2525	743	3095
2920	-0.92	-117.3	238.8	-5.7	138	2925	0.12	2.38	0.00	0.000	6	0.051	0.053	2488	2065	3095
3249	-0.86	-117.3	259.2	-5.9	154	3251	0.12	0.00	0.00	0.000	6	0.097	0.000	2514	2065	3094
3556	-0.86	-117.3	278.3	-7.1	169	3557	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2065	3095
3865	-0.86	-117.3	304.5	-9.1	184	3866	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2065	3095
4174	-0.86	-117.3	332.8	-9.1	199	4178	0.00	2.40	0.00	0.000	4	0.000	0.064	2514	749	3095
4184	-0.86	-117.3	333.9	-9.2	199	4190	0.00	2.38	0.00	0.000	6	0.000	0.053	2514	2072	3094
4501	-0.86	-117.3	362.2	-8.9	215	4505	0.00	2.45	0.00	0.000	4	0.000	0.065	2514	741	3094
4568	-0.86	-117.3	368.4	-8.8	218	4572	0.00	2.35	0.00	0.000	6	0.000	0.053	2514	2049	3094
4889	-0.86	-117.3	395.6	-8.3	234	4893	0.00	2.38	0.00	0.000	4	0.000	0.065	2514	751	3094
5019	-0.86	-117.3	406.1	-8.6	240	5023	0.00	2.30	0.00	0.000	6	0.000	0.052	2514	2034	3094
5346	-0.86	-117.3	430.0	-6.8	256	5348	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2035	3094
5487	end dive: BOTTOM_OBSTACLE_DETECTED
state	5487	begin apogee
5495	-0.33	0.0	438.2	5.4	263	5595	0.52	0.00	97.05	1.082	6	0.082	0.000	2624	2101	2620
5596	end apogee: CONTROL_FINISHED_OK
state	5596	begin climb
5599	1.30	117.3	440.0	0.0	268	5705	1.65	2.65	96.32	1.055	4	0.068	0.063	2980	3503	2140
5772	1.30	117.3	425.5	10.6	276	5777	0.00	2.55	0.00	0.000	6	0.000	0.051	2980	2096	2140
6094	1.30	117.3	394.2	9.9	292	6098	0.00	2.58	0.00	0.000	4	0.000	0.064	2980	3504	2140
6183	1.30	117.3	384.6	10.7	296	6187	0.00	2.50	0.00	0.000	6	0.000	0.051	2980	2110	2139
6504	1.30	117.3	353.5	9.5	312	6505	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2111	2139
6813	1.30	117.3	325.0	9.4	327	6817	0.00	2.55	0.00	0.000	4	0.000	0.061	2980	3504	2139
6902	1.30	117.3	315.3	10.3	331	6906	0.00	2.47	0.00	0.000	6	0.000	0.051	2980	2130	2139
7223	1.30	117.3	283.4	9.6	347	7224	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2130	2139
7532	1.31	119.4	258.2	7.9	362	7536	0.00	2.53	0.00	0.000	4	0.000	0.061	2980	3506	2139
7610	1.31	119.4	251.6	8.5	365	7616	0.00	2.45	0.00	0.000	6	0.000	0.050	2980	2135	2139
7926	1.31	119.4	226.5	8.1	381	7930	0.00	2.50	0.00	0.000	4	0.000	0.060	2980	3505	2139
7995	1.31	119.4	220.6	8.6	384	7999	0.00	2.42	0.00	0.000	6	0.000	0.049	2980	2150	2138
8316	1.31	123.2	195.0	7.8	400	8330	0.00	2.65	6.30	0.759	4	0.000	0.063	2980	682	2116
8371	1.31	123.2	190.0	9.0	402	8375	0.00	2.65	0.00	0.000	6	0.000	0.052	2980	2161	2116
8686	1.31	123.2	163.7	8.0	417	8690	0.00	2.42	0.00	0.000	4	0.000	0.061	2980	3511	2116
8794	1.31	123.2	154.4	8.3	422	8798	0.00	2.38	0.00	0.000	6	0.000	0.048	2979	2172	2115
9122	1.36	154.6	131.2	6.6	438	9150	0.00	0.00	26.27	0.866	6	0.000	0.000	2980	2171	1989
9452	1.47	190.8	109.9	6.4	454	9488	0.15	2.50	29.80	0.854	4	0.046	0.060	3029	3510	1842
9551	1.40	190.8	100.1	10.5	458	9555	0.15	2.40	0.00	0.000	6	0.089	0.048	3002	2180	1842
9868	1.40	190.8	73.1	8.9	473	9869	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2180	1841
10176	1.40	190.8	43.6	10.4	488	10178	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2179	1841
10485	1.40	190.8	12.8	10.0	503	10489	0.00	2.40	0.00	0.000	4	0.000	0.058	3002	3506	1841
10575	1.40	190.8	3.0	9.3	507	10579	0.00	2.35	0.00	0.000	6	0.000	0.049	3002	2194	1841
10604	end climb: SURFACE_DEPTH_REACHED
state	10604	begin surface coast
10626	end surface coast: CONTROL_FINISHED_OK
state	10626	begin surface