Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 238 * 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 -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 238 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 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 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 22 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 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 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 -2098189.5 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 0 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 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 -2098189.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 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 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 22 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 238 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 014737,6345.077,-1233.995,38,1.6,38,-12.1 TGT_NAME WV

_CALLS 2 TGT_LATLONG 6427.000,-1150.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_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 -57.9 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 015603,6345.192,-1233.800,13,1.7,13,-12.1 MHEAD_RNG_PITCHd_Wd 36.4,84966,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.017022 ALTIM_BOTTOM_PING 425.2,57.8

SM_CCo 12789,129.38,0.596,0,0,509,557.57 _24V_AH 23.7,41.475

SM_GC 1.41,0.00,0.00,129.38,0.000,0.000,0.596,67,2243,509,-10.27,0.37,557.57 _10V_AH 10.2,21.072

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31680,617

TT8_MAMPS 0.023777 CAP_FILE_SIZE 90894,0

HUMID 1869 CFSIZE 260165632,243859456

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 7 GPS 270708,053302,6348.013,-1226.844,41,1.2,41,-12.0

ALTIM_TOP_PING 18.8,18.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 168 103.78 SBE_CT 456 24 259.79

Roll_motor 83 79 157.10 SBE_O2 419 19 189.02

VBD_pump_during_apogee 380 928 8386.57 WL_BB2F 443 105 1102.65

VBD_pump_during_surface 129 595 1827.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.49 nil 0 0 0.00

Iridium_during_connect 160 160 609.56 nil 0 0 0.00

Iridium_during_xfer 136 223 719.67

Transponder_ping 5 420 54.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.78

TT8 1130 19 228.38

LPSleep 9800 2 218.92

TT8_Active 644 19 130.12

TT8_Sampling 1293 39 524.94

TT8_CF8 561 45 262.47

TT8_Kalman 0 81 0.00

Analog_circuits 1302 12 159.44

GPS_charging 0 0 0.00

Compass 1267 8 103.46

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.85 0.000 2 0.000 0.000 69 2248 3021

150 -0.85 -146.6 4.1 -3.4 6 175 11.45 2.62 -7.95 0.000 4 0.169 0.080 2106 3640 3380

322 -0.65 -146.6 31.2 -13.3 13 329 0.25 2.55 0.00 0.000 6 0.094 0.051 2155 2230 3380

639 -0.59 -146.6 61.0 -10.1 29 641 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2230 3381

948 -0.54 -146.6 95.2 -11.6 44 950 0.12 0.00 0.00 0.000 6 0.099 0.000 2179 2230 3380

1256 -0.54 -146.6 125.0 -8.7 59 1260 0.00 2.65 0.00 0.000 4 0.000 0.070 2179 3641 3380

1296 -0.59 -146.6 128.5 -9.1 61 1301 0.00 2.53 0.00 0.000 6 0.000 0.048 2179 2227 3380

1623 -0.59 -146.6 152.6 -6.6 77 1624 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2227 3380

1932 -0.59 -146.6 174.0 -7.2 92 1933 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2227 3381

2241 -0.59 -146.6 197.4 -7.7 107 2245 0.00 2.65 0.00 0.000 4 0.000 0.071 2179 3638 3381

2281 -0.65 -146.6 200.7 -8.3 109 2286 0.00 2.55 0.00 0.000 6 0.000 0.049 2179 2225 3380

2609 -0.69 -146.6 226.9 -8.1 125 2610 0.15 0.00 0.00 0.000 6 0.043 0.000 2130 2225 3380

2918 -0.58 -146.6 256.6 -9.6 140 2920 0.22 0.00 0.00 0.000 6 0.084 0.000 2175 2224 3380

3227 -0.58 -146.6 276.4 -6.1 155 3232 0.00 2.65 0.00 0.000 4 0.000 0.071 2175 3644 3380

3271 -0.63 -146.6 279.4 -6.9 157 3276 0.00 2.55 0.00 0.000 6 0.000 0.049 2175 2225 3381

3593 -0.63 -146.6 300.4 -6.5 173 3595 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2225 3380

3902 -0.63 -146.6 319.9 -6.3 188 3903 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2225 3380

4212 -0.67 -146.6 340.2 -6.7 203 4213 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2225 3380

4521 -0.71 -146.6 360.7 -6.2 218 4523 0.15 0.00 0.00 0.000 6 0.043 0.000 2126 2225 3380

4830 -0.61 -146.6 383.8 -7.1 233 4832 0.20 0.00 0.00 0.000 6 0.087 0.000 2167 2225 3379

5144 -0.61 -146.6 401.0 -5.5 248 5149 0.00 2.58 0.00 0.000 4 0.000 0.061 2166 816 3379

5185 -0.69 -146.6 403.7 -6.6 250 5190 0.00 2.55 0.00 0.000 6 0.000 0.049 2166 2229 3379

5512 -0.69 -146.6 424.4 -7.2 266 5516 0.00 2.62 0.00 0.000 4 0.000 0.074 2166 3643 3379

5567 -0.74 -146.6 428.6 -8.0 268 5573 0.12 2.55 0.00 0.000 6 0.048 0.051 2125 2230 3379

5883 -0.65 -146.6 454.3 -8.0 284 5888 0.17 2.58 0.00 0.000 4 0.087 0.063 2163 817 3379

5928 -0.73 -146.6 457.5 -7.2 286 5933 0.12 2.55 0.00 0.000 6 0.047 0.050 2123 2230 3379

6122 end dive: BOTTOM_OBSTACLE_DETECTED

state 6123 begin apogee

6130 -0.31 0.0 474.2 7.9 296 6265 0.52 0.00 128.65 0.929 6 0.086 0.000 2230 2230 2781

6266 end apogee: CONTROL_FINISHED_OK

state 6266 begin climb

6269 0.85 146.6 480.6 0.0 303 6400 1.15 0.00 127.05 0.916 6 0.071 0.000 2477 2233 2183

6703 0.97 261.7 468.2 2.9 324 6809 0.15 2.67 99.57 0.910 4 0.054 0.065 2518 830 1714

6871 0.97 261.7 454.9 9.2 332 6875 0.00 2.60 0.00 0.000 6 0.000 0.051 2518 2240 1712

7192 0.93 261.7 429.4 8.3 348 7193 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2241 1712

7501 0.93 261.7 405.2 7.3 363 7505 0.00 2.65 0.00 0.000 4 0.000 0.076 2518 3648 1712

7546 0.93 261.7 401.8 8.1 365 7550 0.00 2.60 0.00 0.000 6 0.000 0.058 2518 2238 1713

7867 0.93 261.7 379.8 6.5 381 7872 0.00 2.62 0.00 0.000 4 0.000 0.067 2518 827 1711

7930 0.93 261.7 374.9 7.9 384 7934 0.00 2.58 0.00 0.000 6 0.000 0.051 2518 2242 1711

8256 0.93 261.7 349.3 7.7 400 8260 0.00 2.65 0.00 0.000 4 0.000 0.073 2518 3650 1711

8306 0.89 261.7 344.9 8.9 402 8311 0.12 2.60 0.00 0.000 6 0.097 0.057 2494 2237 1711

8622 0.89 261.7 320.3 8.5 417 8626 0.00 2.62 0.00 0.000 4 0.000 0.065 2494 823 1710

8661 0.89 261.7 316.9 9.3 419 8665 0.00 2.58 0.00 0.000 6 0.000 0.050 2494 2241 1710

8988 0.89 261.7 287.3 9.1 435 8989 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2241 1710

9297 0.89 261.7 257.9 9.3 450 9301 0.00 2.62 0.00 0.000 4 0.000 0.072 2494 3653 1710

9346 0.89 261.7 253.4 9.8 452 9350 0.00 2.58 0.00 0.000 6 0.000 0.054 2494 2238 1710

9662 0.89 261.7 227.4 7.7 467 9663 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2238 1710

9971 0.89 261.7 204.6 7.0 482 9972 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2238 1710

10280 0.89 261.7 183.7 6.4 497 10284 0.00 2.62 0.00 0.000 4 0.000 0.071 2494 3648 1710

10325 0.89 261.7 180.7 7.0 499 10330 0.00 2.55 0.00 0.000 6 0.000 0.054 2494 2239 1710

10647 0.91 283.8 161.9 5.4 515 10668 0.00 0.00 19.15 0.706 6 0.000 0.000 2494 2240 1624

10976 0.95 283.8 138.2 8.7 531 10978 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2239 1624

11286 1.01 283.8 113.5 7.2 546 11288 0.12 0.00 0.00 0.000 6 0.049 0.000 2526 2239 1623

11596 0.96 283.8 89.2 8.0 561 11601 0.00 2.65 0.00 0.000 4 0.000 0.069 2526 3653 1624

11660 0.96 283.8 83.0 10.5 564 11664 0.00 2.58 0.00 0.000 6 0.000 0.054 2526 2237 1624

11989 0.96 283.8 53.6 9.4 580 11993 0.00 2.60 0.00 0.000 4 0.000 0.064 2526 823 1623

12039 0.92 283.8 49.0 8.9 582 12044 0.12 2.55 0.00 0.000 6 0.087 0.048 2501 2243 1623

12357 0.97 289.4 28.8 5.8 597 12365 0.00 0.00 6.55 0.536 6 0.000 0.000 2501 2243 1601

12665 1.03 289.4 7.1 6.8 612 12667 0.10 0.00 0.00 0.000 6 0.051 0.000 2532 2243 1601

12744 end climb: SURFACE_DEPTH_REACHED

state 12744 begin surface coast

12767 end surface coast: CONTROL_FINISHED_OK

state 12767 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	238	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	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	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	22	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	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	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	-2098189.5	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	0	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	014737,6345.077,-1233.995,38,1.6,38,-12.1	TGT_NAME	WV
_CALLS	2	TGT_LATLONG	6427.000,-1150.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_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	-57.9	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	015603,6345.192,-1233.800,13,1.7,13,-12.1	MHEAD_RNG_PITCHd_Wd	36.4,84966,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.017022	ALTIM_BOTTOM_PING	425.2,57.8
SM_CCo	12789,129.38,0.596,0,0,509,557.57	_24V_AH	23.7,41.475
SM_GC	1.41,0.00,0.00,129.38,0.000,0.000,0.596,67,2243,509,-10.27,0.37,557.57	_10V_AH	10.2,21.072
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31680,617
TT8_MAMPS	0.023777	CAP_FILE_SIZE	90894,0
HUMID	1869	CFSIZE	260165632,243859456
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	7	GPS	270708,053302,6348.013,-1226.844,41,1.2,41,-12.0
ALTIM_TOP_PING	18.8,18.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	168	103.78	SBE_CT	456	24	259.79
Roll_motor	83	79	157.10	SBE_O2	419	19	189.02
VBD_pump_during_apogee	380	928	8386.57	WL_BB2F	443	105	1102.65
VBD_pump_during_surface	129	595	1827.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.49	nil	0	0	0.00
Iridium_during_connect	160	160	609.56	nil	0	0	0.00
Iridium_during_xfer	136	223	719.67
Transponder_ping	5	420	54.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.78
TT8	1130	19	228.38
LPSleep	9800	2	218.92
TT8_Active	644	19	130.12
TT8_Sampling	1293	39	524.94
TT8_CF8	561	45	262.47
TT8_Kalman	0	81	0.00
Analog_circuits	1302	12	159.44
GPS_charging	0	0	0.00
Compass	1267	8	103.46
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.85	0.000	2	0.000	0.000	69	2248	3021
150	-0.85	-146.6	4.1	-3.4	6	175	11.45	2.62	-7.95	0.000	4	0.169	0.080	2106	3640	3380
322	-0.65	-146.6	31.2	-13.3	13	329	0.25	2.55	0.00	0.000	6	0.094	0.051	2155	2230	3380
639	-0.59	-146.6	61.0	-10.1	29	641	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2230	3381
948	-0.54	-146.6	95.2	-11.6	44	950	0.12	0.00	0.00	0.000	6	0.099	0.000	2179	2230	3380
1256	-0.54	-146.6	125.0	-8.7	59	1260	0.00	2.65	0.00	0.000	4	0.000	0.070	2179	3641	3380
1296	-0.59	-146.6	128.5	-9.1	61	1301	0.00	2.53	0.00	0.000	6	0.000	0.048	2179	2227	3380
1623	-0.59	-146.6	152.6	-6.6	77	1624	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2227	3380
1932	-0.59	-146.6	174.0	-7.2	92	1933	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2227	3381
2241	-0.59	-146.6	197.4	-7.7	107	2245	0.00	2.65	0.00	0.000	4	0.000	0.071	2179	3638	3381
2281	-0.65	-146.6	200.7	-8.3	109	2286	0.00	2.55	0.00	0.000	6	0.000	0.049	2179	2225	3380
2609	-0.69	-146.6	226.9	-8.1	125	2610	0.15	0.00	0.00	0.000	6	0.043	0.000	2130	2225	3380
2918	-0.58	-146.6	256.6	-9.6	140	2920	0.22	0.00	0.00	0.000	6	0.084	0.000	2175	2224	3380
3227	-0.58	-146.6	276.4	-6.1	155	3232	0.00	2.65	0.00	0.000	4	0.000	0.071	2175	3644	3380
3271	-0.63	-146.6	279.4	-6.9	157	3276	0.00	2.55	0.00	0.000	6	0.000	0.049	2175	2225	3381
3593	-0.63	-146.6	300.4	-6.5	173	3595	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2225	3380
3902	-0.63	-146.6	319.9	-6.3	188	3903	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2225	3380
4212	-0.67	-146.6	340.2	-6.7	203	4213	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2225	3380
4521	-0.71	-146.6	360.7	-6.2	218	4523	0.15	0.00	0.00	0.000	6	0.043	0.000	2126	2225	3380
4830	-0.61	-146.6	383.8	-7.1	233	4832	0.20	0.00	0.00	0.000	6	0.087	0.000	2167	2225	3379
5144	-0.61	-146.6	401.0	-5.5	248	5149	0.00	2.58	0.00	0.000	4	0.000	0.061	2166	816	3379
5185	-0.69	-146.6	403.7	-6.6	250	5190	0.00	2.55	0.00	0.000	6	0.000	0.049	2166	2229	3379
5512	-0.69	-146.6	424.4	-7.2	266	5516	0.00	2.62	0.00	0.000	4	0.000	0.074	2166	3643	3379
5567	-0.74	-146.6	428.6	-8.0	268	5573	0.12	2.55	0.00	0.000	6	0.048	0.051	2125	2230	3379
5883	-0.65	-146.6	454.3	-8.0	284	5888	0.17	2.58	0.00	0.000	4	0.087	0.063	2163	817	3379
5928	-0.73	-146.6	457.5	-7.2	286	5933	0.12	2.55	0.00	0.000	6	0.047	0.050	2123	2230	3379
6122	end dive: BOTTOM_OBSTACLE_DETECTED
state	6123	begin apogee
6130	-0.31	0.0	474.2	7.9	296	6265	0.52	0.00	128.65	0.929	6	0.086	0.000	2230	2230	2781
6266	end apogee: CONTROL_FINISHED_OK
state	6266	begin climb
6269	0.85	146.6	480.6	0.0	303	6400	1.15	0.00	127.05	0.916	6	0.071	0.000	2477	2233	2183
6703	0.97	261.7	468.2	2.9	324	6809	0.15	2.67	99.57	0.910	4	0.054	0.065	2518	830	1714
6871	0.97	261.7	454.9	9.2	332	6875	0.00	2.60	0.00	0.000	6	0.000	0.051	2518	2240	1712
7192	0.93	261.7	429.4	8.3	348	7193	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2241	1712
7501	0.93	261.7	405.2	7.3	363	7505	0.00	2.65	0.00	0.000	4	0.000	0.076	2518	3648	1712
7546	0.93	261.7	401.8	8.1	365	7550	0.00	2.60	0.00	0.000	6	0.000	0.058	2518	2238	1713
7867	0.93	261.7	379.8	6.5	381	7872	0.00	2.62	0.00	0.000	4	0.000	0.067	2518	827	1711
7930	0.93	261.7	374.9	7.9	384	7934	0.00	2.58	0.00	0.000	6	0.000	0.051	2518	2242	1711
8256	0.93	261.7	349.3	7.7	400	8260	0.00	2.65	0.00	0.000	4	0.000	0.073	2518	3650	1711
8306	0.89	261.7	344.9	8.9	402	8311	0.12	2.60	0.00	0.000	6	0.097	0.057	2494	2237	1711
8622	0.89	261.7	320.3	8.5	417	8626	0.00	2.62	0.00	0.000	4	0.000	0.065	2494	823	1710
8661	0.89	261.7	316.9	9.3	419	8665	0.00	2.58	0.00	0.000	6	0.000	0.050	2494	2241	1710
8988	0.89	261.7	287.3	9.1	435	8989	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2241	1710
9297	0.89	261.7	257.9	9.3	450	9301	0.00	2.62	0.00	0.000	4	0.000	0.072	2494	3653	1710
9346	0.89	261.7	253.4	9.8	452	9350	0.00	2.58	0.00	0.000	6	0.000	0.054	2494	2238	1710
9662	0.89	261.7	227.4	7.7	467	9663	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2238	1710
9971	0.89	261.7	204.6	7.0	482	9972	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2238	1710
10280	0.89	261.7	183.7	6.4	497	10284	0.00	2.62	0.00	0.000	4	0.000	0.071	2494	3648	1710
10325	0.89	261.7	180.7	7.0	499	10330	0.00	2.55	0.00	0.000	6	0.000	0.054	2494	2239	1710
10647	0.91	283.8	161.9	5.4	515	10668	0.00	0.00	19.15	0.706	6	0.000	0.000	2494	2240	1624
10976	0.95	283.8	138.2	8.7	531	10978	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2239	1624
11286	1.01	283.8	113.5	7.2	546	11288	0.12	0.00	0.00	0.000	6	0.049	0.000	2526	2239	1623
11596	0.96	283.8	89.2	8.0	561	11601	0.00	2.65	0.00	0.000	4	0.000	0.069	2526	3653	1624
11660	0.96	283.8	83.0	10.5	564	11664	0.00	2.58	0.00	0.000	6	0.000	0.054	2526	2237	1624
11989	0.96	283.8	53.6	9.4	580	11993	0.00	2.60	0.00	0.000	4	0.000	0.064	2526	823	1623
12039	0.92	283.8	49.0	8.9	582	12044	0.12	2.55	0.00	0.000	6	0.087	0.048	2501	2243	1623
12357	0.97	289.4	28.8	5.8	597	12365	0.00	0.00	6.55	0.536	6	0.000	0.000	2501	2243	1601
12665	1.03	289.4	7.1	6.8	612	12667	0.10	0.00	0.00	0.000	6	0.051	0.000	2532	2243	1601
12744	end climb: SURFACE_DEPTH_REACHED
state	12744	begin surface coast
12767	end surface coast: CONTROL_FINISHED_OK
state	12767	begin surface