Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 247 * 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 247 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 23 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 -2098431 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 -2098431

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 23 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 247 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 115108,6406.062,-1210.266,39,1.4,39,-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 1.39 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -59.4 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 115603,6406.034,-1210.282,15,1.7,15,-12.0 MHEAD_RNG_PITCHd_Wd 34.6,42073,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.016577 ALTIM_BOTTOM_PING 400.6,37.0

SM_CCo 12411,151.02,0.598,0,0,508,557.32 _24V_AH 23.7,42.663

SM_GC 1.45,0.00,0.00,151.02,0.000,0.000,0.598,71,2243,508,-10.25,0.37,557.32 _10V_AH 10.2,21.653

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28606,597

TT8_MAMPS 0.02301 CAP_FILE_SIZE 80082,0

HUMID 1889 CFSIZE 260165632,243470336

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

XPDR_PINGS 3 GPS 280708,152722,6407.374,-1208.623,38,3.4,57,-12.0

ALTIM_TOP_PING 19.7,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 164 93.50 SBE_CT 442 24 251.68

Roll_motor 67 76 122.47 SBE_O2 405 19 182.74

VBD_pump_during_apogee 345 894 7329.38 WL_BB2F 478 105 1191.35

VBD_pump_during_surface 151 598 2141.35 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.19 nil 0 0 0.00

Iridium_during_connect 34 160 130.83 nil 0 0 0.00

Iridium_during_xfer 125 223 665.83

Transponder_ping 4 420 44.79

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.83

TT8 1066 19 215.31

LPSleep 9519 2 212.65

TT8_Active 638 19 129.03

TT8_Sampling 1247 39 506.26

TT8_CF8 393 45 183.68

TT8_Kalman 0 81 0.00

Analog_circuits 1252 12 153.37

GPS_charging 0 0 0.00

Compass 1221 8 99.70

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 0 127 0.00 0.00 -101.28 0.000 2 0.000 0.000 71 2243 2614

130 -0.85 -146.6 3.2 -2.0 5 174 11.35 2.58 -24.58 0.000 4 0.165 0.077 2108 3637 3378

359 -0.64 -146.6 29.4 -12.7 15 364 0.25 2.55 0.00 0.000 6 0.090 0.050 2157 2230 3379

680 -0.64 -146.6 56.9 -8.3 31 685 0.00 2.60 0.00 0.000 4 0.000 0.060 2157 811 3379

770 -0.64 -146.6 64.4 -8.3 35 774 0.00 2.55 0.00 0.000 6 0.000 0.046 2157 2227 3379

1091 -0.64 -146.6 87.6 -6.9 51 1092 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2227 3379

1400 -0.64 -146.6 110.4 -7.5 66 1404 0.00 2.62 0.00 0.000 4 0.000 0.068 2157 3643 3380

1462 -0.64 -146.6 115.5 -8.8 69 1467 0.00 2.55 0.00 0.000 6 0.000 0.051 2157 2231 3379

1790 -0.64 -146.6 140.6 -7.6 85 1791 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2231 3379

2098 -0.64 -146.6 164.1 -7.5 100 2099 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2231 3379

2408 -0.64 -146.6 184.1 -6.3 115 2409 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2231 3379

2717 -0.64 -146.6 203.8 -6.4 130 2722 0.00 2.62 0.00 0.000 4 0.000 0.071 2157 3643 3380

2750 -0.64 -146.6 205.9 -6.5 131 2756 0.00 2.55 0.00 0.000 6 0.000 0.051 2157 2230 3379

3066 -0.64 -146.6 223.7 -5.6 147 3068 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2230 3379

3376 -0.64 -146.6 241.6 -6.4 162 3377 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2230 3379

3685 -0.64 -146.6 263.3 -7.3 177 3686 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2230 3379

3994 -0.64 -146.6 288.5 -8.5 192 3995 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2231 3379

4304 -0.64 -146.6 317.2 -9.6 207 4305 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2230 3379

4612 -0.64 -146.6 349.0 -11.0 222 4617 0.00 2.65 0.00 0.000 4 0.000 0.072 2157 3644 3379

4652 -0.64 -146.6 353.3 -10.8 224 4656 0.00 2.55 0.00 0.000 6 0.000 0.052 2157 2230 3379

4978 -0.64 -146.6 385.7 -9.8 240 4983 0.00 2.58 0.00 0.000 4 0.000 0.062 2157 815 3379

5023 -0.69 -146.6 390.0 -9.1 242 5027 0.00 2.55 0.00 0.000 6 0.000 0.050 2157 2234 3379

5344 -0.69 -146.6 416.9 -6.6 258 5349 0.00 2.62 0.00 0.000 4 0.000 0.073 2157 3638 3379

5389 -0.69 -146.6 420.4 -8.5 260 5393 0.00 2.55 0.00 0.000 6 0.000 0.054 2157 2230 3379

5501 end dive: BOTTOM_OBSTACLE_DETECTED

state 5501 begin apogee

5507 -0.31 0.0 428.6 7.4 266 5638 0.38 0.00 127.38 0.894 6 0.102 0.000 2230 2231 2781

5638 end apogee: CONTROL_FINISHED_OK

state 5639 begin climb

5641 0.85 146.6 433.9 0.0 272 5777 1.17 2.67 126.30 0.881 4 0.083 0.064 2477 833 2182

5816 0.88 181.2 429.1 5.1 280 5852 0.00 2.60 30.92 0.842 6 0.000 0.051 2477 2243 2042

6174 0.93 222.3 410.8 4.9 298 6214 0.12 0.00 36.33 0.851 6 0.054 0.000 2515 2243 1874

6523 0.93 222.3 386.2 7.0 315 6524 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2244 1873

6832 0.93 222.3 368.0 6.3 330 6833 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2243 1872

7142 0.93 222.3 346.4 6.9 345 7143 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2243 1872

7451 0.93 222.3 327.9 6.1 360 7455 0.00 2.62 0.00 0.000 4 0.000 0.074 2515 3650 1871

7500 0.93 222.3 324.6 7.0 362 7504 0.00 2.58 0.00 0.000 6 0.000 0.056 2515 2241 1871

7816 0.93 222.3 301.7 7.5 377 7817 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2240 1871

8125 0.93 222.3 278.5 7.3 392 8126 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2240 1871

8434 0.93 222.3 257.9 6.4 407 8435 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2240 1870

8744 0.93 222.7 238.9 6.0 422 8748 0.00 2.62 0.00 0.000 4 0.000 0.071 2515 3649 1870

8799 0.93 222.7 235.4 6.2 424 8805 0.00 2.58 0.00 0.000 6 0.000 0.054 2515 2233 1870

9115 0.94 235.7 217.4 5.6 440 9129 0.00 0.00 12.12 0.705 6 0.000 0.000 2515 2232 1820

9424 0.94 235.7 198.4 6.4 455 9425 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2232 1820

9734 0.94 235.7 177.6 6.9 470 9735 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2232 1820

10043 0.94 235.7 156.0 7.0 485 10044 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2232 1820

10352 0.94 235.7 133.7 7.2 500 10357 0.00 2.65 0.00 0.000 4 0.000 0.070 2515 3648 1820

10408 0.94 235.7 129.3 8.6 502 10415 0.00 2.55 0.00 0.000 6 0.000 0.054 2515 2240 1820

10724 0.94 235.7 105.8 7.5 518 10725 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2239 1820

11035 0.94 235.7 84.1 6.8 533 11039 0.00 2.65 0.00 0.000 4 0.000 0.069 2515 3656 1820

11085 0.94 235.7 80.3 7.9 535 11089 0.00 2.58 0.00 0.000 6 0.000 0.054 2513 2237 1821

11402 0.94 235.7 59.3 6.6 550 11404 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2238 1821

11710 0.96 249.0 41.1 5.6 565 11730 0.00 0.00 12.75 0.601 6 0.000 0.000 2515 2238 1765

12041 0.96 249.0 21.0 6.7 581 12046 0.00 2.60 0.00 0.000 4 0.000 0.064 2515 824 1765

12114 1.02 249.0 16.1 6.3 584 12119 0.00 2.55 0.00 0.000 6 0.000 0.047 2515 2243 1764

12366 end climb: SURFACE_DEPTH_REACHED

state 12366 begin surface coast

12389 end surface coast: CONTROL_FINISHED_OK

state 12389 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	247	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	23	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	-2098431	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	115108,6406.062,-1210.266,39,1.4,39,-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	1.39	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-59.4	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	115603,6406.034,-1210.282,15,1.7,15,-12.0	MHEAD_RNG_PITCHd_Wd	34.6,42073,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.016577	ALTIM_BOTTOM_PING	400.6,37.0
SM_CCo	12411,151.02,0.598,0,0,508,557.32	_24V_AH	23.7,42.663
SM_GC	1.45,0.00,0.00,151.02,0.000,0.000,0.598,71,2243,508,-10.25,0.37,557.32	_10V_AH	10.2,21.653
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28606,597
TT8_MAMPS	0.02301	CAP_FILE_SIZE	80082,0
HUMID	1889	CFSIZE	260165632,243470336
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	3	GPS	280708,152722,6407.374,-1208.623,38,3.4,57,-12.0
ALTIM_TOP_PING	19.7,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	164	93.50	SBE_CT	442	24	251.68
Roll_motor	67	76	122.47	SBE_O2	405	19	182.74
VBD_pump_during_apogee	345	894	7329.38	WL_BB2F	478	105	1191.35
VBD_pump_during_surface	151	598	2141.35	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.19	nil	0	0	0.00
Iridium_during_connect	34	160	130.83	nil	0	0	0.00
Iridium_during_xfer	125	223	665.83
Transponder_ping	4	420	44.79
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.83
TT8	1066	19	215.31
LPSleep	9519	2	212.65
TT8_Active	638	19	129.03
TT8_Sampling	1247	39	506.26
TT8_CF8	393	45	183.68
TT8_Kalman	0	81	0.00
Analog_circuits	1252	12	153.37
GPS_charging	0	0	0.00
Compass	1221	8	99.70
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	127	0.00	0.00	-101.28	0.000	2	0.000	0.000	71	2243	2614
130	-0.85	-146.6	3.2	-2.0	5	174	11.35	2.58	-24.58	0.000	4	0.165	0.077	2108	3637	3378
359	-0.64	-146.6	29.4	-12.7	15	364	0.25	2.55	0.00	0.000	6	0.090	0.050	2157	2230	3379
680	-0.64	-146.6	56.9	-8.3	31	685	0.00	2.60	0.00	0.000	4	0.000	0.060	2157	811	3379
770	-0.64	-146.6	64.4	-8.3	35	774	0.00	2.55	0.00	0.000	6	0.000	0.046	2157	2227	3379
1091	-0.64	-146.6	87.6	-6.9	51	1092	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2227	3379
1400	-0.64	-146.6	110.4	-7.5	66	1404	0.00	2.62	0.00	0.000	4	0.000	0.068	2157	3643	3380
1462	-0.64	-146.6	115.5	-8.8	69	1467	0.00	2.55	0.00	0.000	6	0.000	0.051	2157	2231	3379
1790	-0.64	-146.6	140.6	-7.6	85	1791	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2231	3379
2098	-0.64	-146.6	164.1	-7.5	100	2099	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2231	3379
2408	-0.64	-146.6	184.1	-6.3	115	2409	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2231	3379
2717	-0.64	-146.6	203.8	-6.4	130	2722	0.00	2.62	0.00	0.000	4	0.000	0.071	2157	3643	3380
2750	-0.64	-146.6	205.9	-6.5	131	2756	0.00	2.55	0.00	0.000	6	0.000	0.051	2157	2230	3379
3066	-0.64	-146.6	223.7	-5.6	147	3068	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2230	3379
3376	-0.64	-146.6	241.6	-6.4	162	3377	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2230	3379
3685	-0.64	-146.6	263.3	-7.3	177	3686	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2230	3379
3994	-0.64	-146.6	288.5	-8.5	192	3995	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2231	3379
4304	-0.64	-146.6	317.2	-9.6	207	4305	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2230	3379
4612	-0.64	-146.6	349.0	-11.0	222	4617	0.00	2.65	0.00	0.000	4	0.000	0.072	2157	3644	3379
4652	-0.64	-146.6	353.3	-10.8	224	4656	0.00	2.55	0.00	0.000	6	0.000	0.052	2157	2230	3379
4978	-0.64	-146.6	385.7	-9.8	240	4983	0.00	2.58	0.00	0.000	4	0.000	0.062	2157	815	3379
5023	-0.69	-146.6	390.0	-9.1	242	5027	0.00	2.55	0.00	0.000	6	0.000	0.050	2157	2234	3379
5344	-0.69	-146.6	416.9	-6.6	258	5349	0.00	2.62	0.00	0.000	4	0.000	0.073	2157	3638	3379
5389	-0.69	-146.6	420.4	-8.5	260	5393	0.00	2.55	0.00	0.000	6	0.000	0.054	2157	2230	3379
5501	end dive: BOTTOM_OBSTACLE_DETECTED
state	5501	begin apogee
5507	-0.31	0.0	428.6	7.4	266	5638	0.38	0.00	127.38	0.894	6	0.102	0.000	2230	2231	2781
5638	end apogee: CONTROL_FINISHED_OK
state	5639	begin climb
5641	0.85	146.6	433.9	0.0	272	5777	1.17	2.67	126.30	0.881	4	0.083	0.064	2477	833	2182
5816	0.88	181.2	429.1	5.1	280	5852	0.00	2.60	30.92	0.842	6	0.000	0.051	2477	2243	2042
6174	0.93	222.3	410.8	4.9	298	6214	0.12	0.00	36.33	0.851	6	0.054	0.000	2515	2243	1874
6523	0.93	222.3	386.2	7.0	315	6524	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2244	1873
6832	0.93	222.3	368.0	6.3	330	6833	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2243	1872
7142	0.93	222.3	346.4	6.9	345	7143	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2243	1872
7451	0.93	222.3	327.9	6.1	360	7455	0.00	2.62	0.00	0.000	4	0.000	0.074	2515	3650	1871
7500	0.93	222.3	324.6	7.0	362	7504	0.00	2.58	0.00	0.000	6	0.000	0.056	2515	2241	1871
7816	0.93	222.3	301.7	7.5	377	7817	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2240	1871
8125	0.93	222.3	278.5	7.3	392	8126	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2240	1871
8434	0.93	222.3	257.9	6.4	407	8435	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2240	1870
8744	0.93	222.7	238.9	6.0	422	8748	0.00	2.62	0.00	0.000	4	0.000	0.071	2515	3649	1870
8799	0.93	222.7	235.4	6.2	424	8805	0.00	2.58	0.00	0.000	6	0.000	0.054	2515	2233	1870
9115	0.94	235.7	217.4	5.6	440	9129	0.00	0.00	12.12	0.705	6	0.000	0.000	2515	2232	1820
9424	0.94	235.7	198.4	6.4	455	9425	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2232	1820
9734	0.94	235.7	177.6	6.9	470	9735	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2232	1820
10043	0.94	235.7	156.0	7.0	485	10044	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2232	1820
10352	0.94	235.7	133.7	7.2	500	10357	0.00	2.65	0.00	0.000	4	0.000	0.070	2515	3648	1820
10408	0.94	235.7	129.3	8.6	502	10415	0.00	2.55	0.00	0.000	6	0.000	0.054	2515	2240	1820
10724	0.94	235.7	105.8	7.5	518	10725	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2239	1820
11035	0.94	235.7	84.1	6.8	533	11039	0.00	2.65	0.00	0.000	4	0.000	0.069	2515	3656	1820
11085	0.94	235.7	80.3	7.9	535	11089	0.00	2.58	0.00	0.000	6	0.000	0.054	2513	2237	1821
11402	0.94	235.7	59.3	6.6	550	11404	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2238	1821
11710	0.96	249.0	41.1	5.6	565	11730	0.00	0.00	12.75	0.601	6	0.000	0.000	2515	2238	1765
12041	0.96	249.0	21.0	6.7	581	12046	0.00	2.60	0.00	0.000	4	0.000	0.064	2515	824	1765
12114	1.02	249.0	16.1	6.3	584	12119	0.00	2.55	0.00	0.000	6	0.000	0.047	2515	2243	1764
12366	end climb: SURFACE_DEPTH_REACHED
state	12366	begin surface coast
12389	end surface coast: CONTROL_FINISHED_OK
state	12389	begin surface