Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 240 * 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 240 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 21 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 -2098233.8 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 -2098233.8

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 21 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 240 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 092228,6349.850,-1224.974,34,3.1,53,-12.0 TGT_NAME WV

_CALLS 1 TGT_LATLONG 6427.000,-1150.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.30 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -57.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 092728,6349.836,-1225.096,11,3.7,30,-12.0 MHEAD_RNG_PITCHd_Wd 34.2,74316,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013158 ALTIM_BOTTOM_PING 375.5,97.1

SM_CCo 12607,90.72,0.601,0,0,509,557.32 _24V_AH 23.7,41.752

SM_GC 1.47,0.00,0.00,90.72,0.000,0.000,0.601,73,2242,509,-10.24,0.34,557.32 _10V_AH 10.2,21.201

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31677,607

TT8_MAMPS 0.02301 CAP_FILE_SIZE 85072,0

HUMID 1887 CFSIZE 260165632,243773440

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

XPDR_PINGS 10 GPS 270708,130038,6352.288,-1226.349,36,1.1,36,-12.1

ALTIM_TOP_PING 19.5,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 168 108.68 SBE_CT 447 24 254.69

Roll_motor 72 78 134.89 SBE_O2 413 19 186.04

VBD_pump_during_apogee 451 921 9852.08 WL_BB2F 439 105 1093.96

VBD_pump_during_surface 90 600 1291.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.81 nil 0 0 0.00

Iridium_during_connect 30 160 114.04 nil 0 0 0.00

Iridium_during_xfer 121 223 639.93

Transponder_ping 5 420 54.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.74

TT8 1084 19 219.03

LPSleep 9568 2 213.75

TT8_Active 677 19 136.82

TT8_Sampling 1280 39 520.00

TT8_CF8 390 45 182.29

TT8_Kalman 0 81 0.00

Analog_circuits 1323 12 162.02

GPS_charging 0 0 0.00

Compass 1242 8 101.37

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 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -121.18 0.000 2 0.000 0.000 72 2246 3022

151 -0.85 -146.6 4.3 -3.6 6 176 11.48 2.60 -7.85 0.000 4 0.169 0.078 2116 3638 3380

182 0.18 -146.6 13.1 -22.4 7 194 1.10 2.58 0.00 0.000 6 0.092 0.052 2340 2230 3380

505 -0.35 -146.6 36.3 -7.4 23 511 0.50 2.60 0.00 0.000 4 0.050 0.058 2221 813 3381

624 -0.87 -146.6 43.9 -6.0 28 629 0.52 2.55 0.00 0.000 6 0.058 0.046 2107 2232 3381

941 -0.74 -146.6 76.9 -12.2 43 946 0.15 2.62 0.00 0.000 4 0.088 0.058 2136 811 3381

1198 -0.74 -146.6 105.2 -11.0 54 1205 0.00 2.58 0.00 0.000 6 0.000 0.049 2136 2235 3382

1515 -0.65 -146.6 139.6 -9.9 70 1516 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2235 3382

1823 -0.56 -146.6 162.8 -6.9 85 1825 0.20 0.00 0.00 0.000 6 0.086 0.000 2177 2234 3382

2133 -0.56 -146.6 179.1 -5.8 100 2134 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2235 3382

2442 -0.56 -146.6 199.7 -7.2 115 2443 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2235 3382

2751 -0.56 -146.6 223.4 -7.6 130 2752 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2235 3382

3061 -0.60 -146.6 248.2 -8.0 145 3062 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2235 3382

3370 -0.65 -146.6 272.3 -7.5 160 3374 0.00 2.62 0.00 0.000 4 0.000 0.072 2177 3641 3382

3410 -0.71 -146.6 275.2 -7.3 162 3415 0.15 2.55 0.00 0.000 6 0.043 0.051 2130 2227 3382

3738 -0.61 -146.6 307.0 -9.6 178 3740 0.17 0.00 0.00 0.000 6 0.085 0.000 2165 2227 3382

4046 -0.61 -146.6 327.9 -6.5 193 4047 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2227 3381

4356 -0.61 -146.6 343.8 -4.4 208 4357 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2227 3382

4665 -0.61 -146.6 358.4 -5.4 223 4667 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2227 3382

4974 -0.61 -146.6 380.9 -8.6 238 4978 0.00 2.65 0.00 0.000 4 0.000 0.072 2164 3642 3381

5029 -0.61 -146.6 386.1 -9.4 240 5035 0.00 2.55 0.00 0.000 6 0.000 0.052 2165 2228 3381

5345 -0.61 -146.6 418.2 -10.4 256 5350 0.00 2.60 0.00 0.000 4 0.000 0.062 2165 810 3381

5379 -0.67 -146.6 421.8 -10.5 257 5385 0.00 2.55 0.00 0.000 6 0.000 0.048 2164 2230 3381

5694 -0.67 -146.6 447.6 -6.6 273 5695 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3381

5939 end dive: BOTTOM_OBSTACLE_DETECTED

state 5939 begin apogee

5946 -0.31 0.0 463.6 6.7 285 6081 0.32 0.00 127.82 0.921 6 0.084 0.000 2231 2230 2780

6082 end apogee: CONTROL_FINISHED_OK

state 6082 begin climb

6085 0.85 146.6 471.3 0.0 292 6216 1.17 0.00 126.93 0.907 6 0.076 0.000 2478 2230 2182

6520 0.85 146.6 455.1 6.1 313 6521 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2229 2181

6825 0.89 189.0 440.9 4.8 328 6865 0.00 0.00 37.55 0.888 6 0.000 0.000 2478 2229 2010

7175 0.97 189.0 419.2 6.1 345 7176 0.15 0.00 0.00 0.000 6 0.076 0.000 2510 2230 2009

7484 1.00 213.2 400.5 5.3 360 7508 0.00 0.00 21.52 0.860 6 0.000 0.000 2509 2229 1912

7813 1.00 213.2 382.3 6.1 376 7814 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2229 1912

8123 1.06 267.6 365.5 4.5 391 8177 0.00 2.75 47.70 0.871 4 0.000 0.071 2509 3639 1689

8213 1.19 344.4 362.3 3.9 395 8285 0.22 2.60 65.62 0.860 6 0.058 0.058 2561 2240 1376

8594 1.13 344.4 331.6 11.4 413 8599 0.00 2.62 0.00 0.000 4 0.000 0.067 2561 825 1375

8628 1.08 344.4 327.3 11.8 414 8635 0.15 2.58 0.00 0.000 6 0.085 0.049 2531 2240 1375

8944 1.08 344.4 299.9 7.0 430 8948 0.00 2.65 0.00 0.000 4 0.000 0.066 2531 823 1375

8988 1.08 344.4 296.8 6.8 432 8992 0.00 2.58 0.00 0.000 6 0.000 0.048 2531 2239 1374

9309 1.08 344.4 274.2 7.2 448 9310 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2239 1374

9617 1.08 344.4 247.3 9.4 463 9619 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2240 1374

9927 1.08 344.4 218.5 9.0 478 9931 0.00 2.62 0.00 0.000 4 0.000 0.064 2531 823 1375

9971 1.08 344.4 214.5 8.3 480 9975 0.00 2.55 0.00 0.000 6 0.000 0.048 2531 2241 1375

10292 1.08 344.4 186.3 9.0 496 10293 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2241 1375

10601 1.08 344.4 158.2 9.4 511 10606 0.00 2.62 0.00 0.000 4 0.000 0.064 2531 826 1376

10646 1.08 344.4 153.8 9.4 513 10651 0.00 2.55 0.00 0.000 6 0.000 0.048 2531 2240 1376

10969 1.08 344.4 128.0 7.7 529 10970 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2240 1376

11277 1.08 344.4 101.6 8.4 544 11281 0.00 2.62 0.00 0.000 4 0.000 0.064 2531 824 1376

11333 1.08 344.4 96.8 8.8 546 11339 0.00 2.55 0.00 0.000 6 0.000 0.048 2531 2242 1376

11649 1.08 344.4 69.9 8.1 562 11650 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2242 1376

11958 1.11 372.8 50.8 5.2 577 11988 0.00 2.67 24.12 0.639 4 0.000 0.063 2531 824 1260

12040 1.11 372.8 45.9 6.6 580 12046 0.00 2.55 0.00 0.000 6 0.000 0.047 2531 2241 1259

12357 1.11 372.8 20.2 9.0 596 12362 0.00 2.62 0.00 0.000 4 0.000 0.063 2531 824 1261

12408 1.17 372.8 15.6 8.3 598 12413 0.10 2.55 0.00 0.000 6 0.050 0.047 2561 2241 1260

12561 end climb: SURFACE_DEPTH_REACHED

state 12561 begin surface coast

12585 end surface coast: CONTROL_FINISHED_OK

state 12585 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	240	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	21	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	-2098233.8	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	092228,6349.850,-1224.974,34,3.1,53,-12.0	TGT_NAME	WV
_CALLS	1	TGT_LATLONG	6427.000,-1150.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.30	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-57.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	092728,6349.836,-1225.096,11,3.7,30,-12.0	MHEAD_RNG_PITCHd_Wd	34.2,74316,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.013158	ALTIM_BOTTOM_PING	375.5,97.1
SM_CCo	12607,90.72,0.601,0,0,509,557.32	_24V_AH	23.7,41.752
SM_GC	1.47,0.00,0.00,90.72,0.000,0.000,0.601,73,2242,509,-10.24,0.34,557.32	_10V_AH	10.2,21.201
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31677,607
TT8_MAMPS	0.02301	CAP_FILE_SIZE	85072,0
HUMID	1887	CFSIZE	260165632,243773440
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	10	GPS	270708,130038,6352.288,-1226.349,36,1.1,36,-12.1
ALTIM_TOP_PING	19.5,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	168	108.68	SBE_CT	447	24	254.69
Roll_motor	72	78	134.89	SBE_O2	413	19	186.04
VBD_pump_during_apogee	451	921	9852.08	WL_BB2F	439	105	1093.96
VBD_pump_during_surface	90	600	1291.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.81	nil	0	0	0.00
Iridium_during_connect	30	160	114.04	nil	0	0	0.00
Iridium_during_xfer	121	223	639.93
Transponder_ping	5	420	54.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.74
TT8	1084	19	219.03
LPSleep	9568	2	213.75
TT8_Active	677	19	136.82
TT8_Sampling	1280	39	520.00
TT8_CF8	390	45	182.29
TT8_Kalman	0	81	0.00
Analog_circuits	1323	12	162.02
GPS_charging	0	0	0.00
Compass	1242	8	101.37
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	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-121.18	0.000	2	0.000	0.000	72	2246	3022
151	-0.85	-146.6	4.3	-3.6	6	176	11.48	2.60	-7.85	0.000	4	0.169	0.078	2116	3638	3380
182	0.18	-146.6	13.1	-22.4	7	194	1.10	2.58	0.00	0.000	6	0.092	0.052	2340	2230	3380
505	-0.35	-146.6	36.3	-7.4	23	511	0.50	2.60	0.00	0.000	4	0.050	0.058	2221	813	3381
624	-0.87	-146.6	43.9	-6.0	28	629	0.52	2.55	0.00	0.000	6	0.058	0.046	2107	2232	3381
941	-0.74	-146.6	76.9	-12.2	43	946	0.15	2.62	0.00	0.000	4	0.088	0.058	2136	811	3381
1198	-0.74	-146.6	105.2	-11.0	54	1205	0.00	2.58	0.00	0.000	6	0.000	0.049	2136	2235	3382
1515	-0.65	-146.6	139.6	-9.9	70	1516	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2235	3382
1823	-0.56	-146.6	162.8	-6.9	85	1825	0.20	0.00	0.00	0.000	6	0.086	0.000	2177	2234	3382
2133	-0.56	-146.6	179.1	-5.8	100	2134	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2235	3382
2442	-0.56	-146.6	199.7	-7.2	115	2443	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2235	3382
2751	-0.56	-146.6	223.4	-7.6	130	2752	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2235	3382
3061	-0.60	-146.6	248.2	-8.0	145	3062	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2235	3382
3370	-0.65	-146.6	272.3	-7.5	160	3374	0.00	2.62	0.00	0.000	4	0.000	0.072	2177	3641	3382
3410	-0.71	-146.6	275.2	-7.3	162	3415	0.15	2.55	0.00	0.000	6	0.043	0.051	2130	2227	3382
3738	-0.61	-146.6	307.0	-9.6	178	3740	0.17	0.00	0.00	0.000	6	0.085	0.000	2165	2227	3382
4046	-0.61	-146.6	327.9	-6.5	193	4047	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2227	3381
4356	-0.61	-146.6	343.8	-4.4	208	4357	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2227	3382
4665	-0.61	-146.6	358.4	-5.4	223	4667	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2227	3382
4974	-0.61	-146.6	380.9	-8.6	238	4978	0.00	2.65	0.00	0.000	4	0.000	0.072	2164	3642	3381
5029	-0.61	-146.6	386.1	-9.4	240	5035	0.00	2.55	0.00	0.000	6	0.000	0.052	2165	2228	3381
5345	-0.61	-146.6	418.2	-10.4	256	5350	0.00	2.60	0.00	0.000	4	0.000	0.062	2165	810	3381
5379	-0.67	-146.6	421.8	-10.5	257	5385	0.00	2.55	0.00	0.000	6	0.000	0.048	2164	2230	3381
5694	-0.67	-146.6	447.6	-6.6	273	5695	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3381
5939	end dive: BOTTOM_OBSTACLE_DETECTED
state	5939	begin apogee
5946	-0.31	0.0	463.6	6.7	285	6081	0.32	0.00	127.82	0.921	6	0.084	0.000	2231	2230	2780
6082	end apogee: CONTROL_FINISHED_OK
state	6082	begin climb
6085	0.85	146.6	471.3	0.0	292	6216	1.17	0.00	126.93	0.907	6	0.076	0.000	2478	2230	2182
6520	0.85	146.6	455.1	6.1	313	6521	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2229	2181
6825	0.89	189.0	440.9	4.8	328	6865	0.00	0.00	37.55	0.888	6	0.000	0.000	2478	2229	2010
7175	0.97	189.0	419.2	6.1	345	7176	0.15	0.00	0.00	0.000	6	0.076	0.000	2510	2230	2009
7484	1.00	213.2	400.5	5.3	360	7508	0.00	0.00	21.52	0.860	6	0.000	0.000	2509	2229	1912
7813	1.00	213.2	382.3	6.1	376	7814	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2229	1912
8123	1.06	267.6	365.5	4.5	391	8177	0.00	2.75	47.70	0.871	4	0.000	0.071	2509	3639	1689
8213	1.19	344.4	362.3	3.9	395	8285	0.22	2.60	65.62	0.860	6	0.058	0.058	2561	2240	1376
8594	1.13	344.4	331.6	11.4	413	8599	0.00	2.62	0.00	0.000	4	0.000	0.067	2561	825	1375
8628	1.08	344.4	327.3	11.8	414	8635	0.15	2.58	0.00	0.000	6	0.085	0.049	2531	2240	1375
8944	1.08	344.4	299.9	7.0	430	8948	0.00	2.65	0.00	0.000	4	0.000	0.066	2531	823	1375
8988	1.08	344.4	296.8	6.8	432	8992	0.00	2.58	0.00	0.000	6	0.000	0.048	2531	2239	1374
9309	1.08	344.4	274.2	7.2	448	9310	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2239	1374
9617	1.08	344.4	247.3	9.4	463	9619	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2240	1374
9927	1.08	344.4	218.5	9.0	478	9931	0.00	2.62	0.00	0.000	4	0.000	0.064	2531	823	1375
9971	1.08	344.4	214.5	8.3	480	9975	0.00	2.55	0.00	0.000	6	0.000	0.048	2531	2241	1375
10292	1.08	344.4	186.3	9.0	496	10293	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2241	1375
10601	1.08	344.4	158.2	9.4	511	10606	0.00	2.62	0.00	0.000	4	0.000	0.064	2531	826	1376
10646	1.08	344.4	153.8	9.4	513	10651	0.00	2.55	0.00	0.000	6	0.000	0.048	2531	2240	1376
10969	1.08	344.4	128.0	7.7	529	10970	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2240	1376
11277	1.08	344.4	101.6	8.4	544	11281	0.00	2.62	0.00	0.000	4	0.000	0.064	2531	824	1376
11333	1.08	344.4	96.8	8.8	546	11339	0.00	2.55	0.00	0.000	6	0.000	0.048	2531	2242	1376
11649	1.08	344.4	69.9	8.1	562	11650	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2242	1376
11958	1.11	372.8	50.8	5.2	577	11988	0.00	2.67	24.12	0.639	4	0.000	0.063	2531	824	1260
12040	1.11	372.8	45.9	6.6	580	12046	0.00	2.55	0.00	0.000	6	0.000	0.047	2531	2241	1259
12357	1.11	372.8	20.2	9.0	596	12362	0.00	2.62	0.00	0.000	4	0.000	0.063	2531	824	1261
12408	1.17	372.8	15.6	8.3	598	12413	0.10	2.55	0.00	0.000	6	0.050	0.047	2561	2241	1260
12561	end climb: SURFACE_DEPTH_REACHED
state	12561	begin surface coast
12585	end surface coast: CONTROL_FINISHED_OK
state	12585	begin surface