Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 325 * 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 325 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 26 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 -2100391.2 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 2330 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 -2100391.2

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 2330 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 20 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 325 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 160307,6441.929,-1051.899,38,1.4,38,-11.5 TGT_NAME NV

_CALLS 1 TGT_LATLONG 6454.000,-1040.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.38 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.8 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 160751,6441.919,-1051.926,14,1.4,14,-11.5 MHEAD_RNG_PITCHd_Wd 34.2,24257,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.1,1.026975 ALTIM_BOTTOM_PING 401.1,24.1

SM_CCo 11932,57.08,0.649,1,0,509,557.32 _24V_AH 23.4,52.744

SM_GC 1.33,0.00,0.00,57.08,0.000,0.000,0.649,70,2231,509,-10.39,0.03,557.32 _10V_AH 10.1,26.111

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28589,574

TT8_MAMPS 0.02301 CAP_FILE_SIZE 86618,0

HUMID 1982 CFSIZE 260165632,240377856

TCM_TEMP 18.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 58 GPS 070808,192937,6442.439,-1052.164,42,1.4,53,-11.5

ALTIM_TOP_PING 18.8,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 104.43 SBE_CT 428 24 240.71

Roll_motor 90 88 187.20 SBE_O2 389 19 173.20

VBD_pump_during_apogee 522 987 12066.95 WL_BB2F 442 105 1087.97

VBD_pump_during_surface 57 648 866.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.62 nil 0 0 0.00

Iridium_during_connect 29 160 109.00 nil 0 0 0.00

Iridium_during_xfer 121 223 634.11

Transponder_ping 17 420 174.45

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.14

TT8 1046 19 209.35

LPSleep 8867 2 196.15

TT8_Active 696 19 139.37

TT8_Sampling 1277 39 513.54

TT8_CF8 396 45 183.45

TT8_Kalman 0 81 0.00

Analog_circuits 1376 12 166.85

GPS_charging 0 0 0.00

Compass 1251 8 101.10

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

24 -0.85 -146.6 0.0 0.0 0 142 0.00 0.00 -115.95 0.000 2 0.000 0.000 73 2240 2689

145 -0.85 -146.6 3.1 -2.3 6 188 11.73 2.67 -21.75 0.000 4 0.172 0.071 2140 820 3379

228 -0.80 -146.6 11.7 -9.0 9 235 0.00 2.55 0.00 0.000 6 0.000 0.048 2141 2226 3379

545 -0.70 -146.6 38.2 -7.7 25 550 0.15 2.62 0.00 0.000 4 0.094 0.064 2173 3638 3379

589 -0.70 -146.6 41.5 -7.1 27 594 0.00 2.58 0.00 0.000 6 0.000 0.049 2173 2225 3380

911 -0.70 -146.6 68.0 -10.0 43 915 0.00 2.67 0.00 0.000 4 0.000 0.070 2173 3643 3381

950 -0.70 -146.6 72.1 -10.4 45 955 0.00 2.58 0.00 0.000 6 0.000 0.051 2173 2230 3381

1278 -0.70 -146.6 99.2 -8.1 61 1279 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2230 3381

1587 -0.70 -146.6 125.2 -8.6 76 1588 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2230 3382

1897 -0.70 -146.6 149.5 -7.4 91 1898 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2230 3382

2205 -0.70 -146.6 170.8 -6.8 106 2210 0.00 2.67 0.00 0.000 4 0.000 0.075 2173 3634 3382

2245 -0.70 -146.6 173.8 -7.9 108 2250 0.00 2.58 0.00 0.000 6 0.000 0.052 2173 2227 3382

2573 -0.70 -146.6 193.3 -5.6 124 2574 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2226 3382

2882 -0.70 -146.6 209.7 -5.0 139 2883 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2226 3382

3192 -0.70 -146.6 225.7 -5.4 154 3193 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2226 3381

3501 -0.75 -146.6 244.7 -6.3 169 3505 0.00 2.70 0.00 0.000 4 0.000 0.081 2173 3634 3382

3541 -0.75 -146.6 247.5 -7.2 171 3546 0.00 2.60 0.00 0.000 6 0.000 0.059 2173 2232 3382

3868 -0.80 -146.6 271.1 -7.6 187 3873 0.00 2.65 0.00 0.000 4 0.000 0.071 2173 819 3381

3909 -0.90 -146.6 274.4 -8.7 189 3914 0.20 2.62 0.00 0.000 6 0.047 0.061 2120 2231 3381

4238 -0.79 -146.6 306.3 -9.8 205 4243 0.17 2.70 0.00 0.000 4 0.091 0.083 2156 3638 3380

4294 -0.79 -146.6 311.4 -8.5 207 4300 0.00 2.65 0.00 0.000 6 0.000 0.067 2156 2231 3380

4610 -0.79 -146.6 335.7 -7.5 223 4611 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2231 3379

4919 -0.79 -146.6 360.1 -7.7 238 4920 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2231 3379

5229 -0.79 -146.6 385.5 -8.0 253 5230 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2231 3379

5537 -0.79 -146.6 407.0 -7.2 268 5539 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2231 3376

5658 end dive: BOTTOM_OBSTACLE_DETECTED

state 5659 begin apogee

5665 -0.31 0.0 416.2 7.9 274 5801 0.52 0.00 128.07 0.988 6 0.099 0.000 2261 2231 2781

5801 end apogee: CONTROL_FINISHED_OK

state 5802 begin climb

5805 0.85 146.6 422.2 0.0 281 5941 1.17 2.88 127.38 0.968 4 0.078 0.088 2507 3644 2183

6138 0.81 185.2 413.0 4.9 296 6178 0.00 2.65 34.65 0.938 6 0.000 0.069 2508 2241 2025

6496 0.87 238.3 396.7 4.5 314 6546 0.00 0.00 47.25 0.949 6 0.000 0.000 2507 2241 1808

6845 0.88 248.2 375.8 5.7 331 6860 0.00 2.78 9.80 0.844 4 0.000 0.077 2508 827 1769

6894 0.88 250.0 372.7 5.9 332 6898 0.00 2.67 0.00 0.000 6 0.000 0.064 2507 2239 1768

7209 0.88 250.0 353.7 6.6 347 7210 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2240 1768

7520 0.88 251.6 334.3 6.0 362 7529 0.00 2.75 4.38 0.668 4 0.000 0.080 2507 823 1755

7563 0.88 251.6 331.5 6.6 364 7567 0.00 2.67 0.00 0.000 6 0.000 0.063 2507 2242 1755

7884 0.91 275.9 314.0 5.3 380 7908 0.00 0.00 22.55 0.906 6 0.000 0.000 2507 2242 1656

8215 0.97 284.0 295.4 5.8 396 8225 0.15 0.00 8.43 0.808 6 0.065 0.000 2545 2242 1623

8523 0.92 284.0 271.0 8.0 411 8527 0.00 2.72 0.00 0.000 4 0.000 0.080 2545 828 1622

8585 0.87 284.0 265.7 8.6 414 8590 0.12 2.67 0.00 0.000 6 0.104 0.063 2522 2247 1621

8912 0.87 284.0 238.6 8.4 430 8913 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2247 1621

9221 0.87 284.0 215.0 7.1 445 9222 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2247 1621

9530 0.87 284.0 196.6 6.4 460 9535 0.00 2.67 0.00 0.000 4 0.000 0.083 2522 3649 1621

9571 0.87 284.0 193.5 8.0 462 9575 0.00 2.67 0.00 0.000 6 0.000 0.070 2522 2237 1621

9897 0.87 284.0 168.4 8.5 478 9901 0.00 2.67 0.00 0.000 4 0.000 0.071 2522 825 1621

9936 0.87 284.0 164.8 9.8 480 9941 0.00 2.65 0.00 0.000 6 0.000 0.061 2522 2243 1620

10264 0.87 284.0 135.2 7.6 496 10265 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2244 1620

10573 0.96 365.1 120.1 3.8 511 10648 0.00 2.80 67.35 0.795 4 0.000 0.076 2522 3648 1292

10680 1.17 451.4 116.7 3.6 516 10763 0.30 2.67 72.15 0.776 6 0.047 0.064 2592 2236 940

11072 1.08 451.4 85.6 7.9 535 11077 0.15 2.67 0.00 0.000 4 0.093 0.067 2560 823 938

11168 1.13 451.4 78.9 6.9 539 11173 0.00 2.62 0.00 0.000 6 0.000 0.054 2561 2251 940

11484 1.13 451.4 51.1 10.3 554 11488 0.00 2.70 0.00 0.000 4 0.000 0.068 2560 827 940

11547 1.20 451.4 44.6 10.0 557 11552 0.15 2.60 0.00 0.000 6 0.052 0.051 2595 2242 940

11875 1.20 451.4 4.9 11.2 573 11880 0.00 2.70 0.00 0.000 4 0.000 0.068 2595 820 941

11900 end climb: SURFACE_DEPTH_REACHED

state 11900 begin surface coast

11906 end surface coast: CONTROL_FINISHED_OK

state 11907 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	325	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	26	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	-2100391.2	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	2330	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	160307,6441.929,-1051.899,38,1.4,38,-11.5	TGT_NAME	NV
_CALLS	1	TGT_LATLONG	6454.000,-1040.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.38	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.8	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	160751,6441.919,-1051.926,14,1.4,14,-11.5	MHEAD_RNG_PITCHd_Wd	34.2,24257,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	1.1,1.026975	ALTIM_BOTTOM_PING	401.1,24.1
SM_CCo	11932,57.08,0.649,1,0,509,557.32	_24V_AH	23.4,52.744
SM_GC	1.33,0.00,0.00,57.08,0.000,0.000,0.649,70,2231,509,-10.39,0.03,557.32	_10V_AH	10.1,26.111
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28589,574
TT8_MAMPS	0.02301	CAP_FILE_SIZE	86618,0
HUMID	1982	CFSIZE	260165632,240377856
TCM_TEMP	18.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	58	GPS	070808,192937,6442.439,-1052.164,42,1.4,53,-11.5
ALTIM_TOP_PING	18.8,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	104.43	SBE_CT	428	24	240.71
Roll_motor	90	88	187.20	SBE_O2	389	19	173.20
VBD_pump_during_apogee	522	987	12066.95	WL_BB2F	442	105	1087.97
VBD_pump_during_surface	57	648	866.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.62	nil	0	0	0.00
Iridium_during_connect	29	160	109.00	nil	0	0	0.00
Iridium_during_xfer	121	223	634.11
Transponder_ping	17	420	174.45
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.14
TT8	1046	19	209.35
LPSleep	8867	2	196.15
TT8_Active	696	19	139.37
TT8_Sampling	1277	39	513.54
TT8_CF8	396	45	183.45
TT8_Kalman	0	81	0.00
Analog_circuits	1376	12	166.85
GPS_charging	0	0	0.00
Compass	1251	8	101.10
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
24	-0.85	-146.6	0.0	0.0	0	142	0.00	0.00	-115.95	0.000	2	0.000	0.000	73	2240	2689
145	-0.85	-146.6	3.1	-2.3	6	188	11.73	2.67	-21.75	0.000	4	0.172	0.071	2140	820	3379
228	-0.80	-146.6	11.7	-9.0	9	235	0.00	2.55	0.00	0.000	6	0.000	0.048	2141	2226	3379
545	-0.70	-146.6	38.2	-7.7	25	550	0.15	2.62	0.00	0.000	4	0.094	0.064	2173	3638	3379
589	-0.70	-146.6	41.5	-7.1	27	594	0.00	2.58	0.00	0.000	6	0.000	0.049	2173	2225	3380
911	-0.70	-146.6	68.0	-10.0	43	915	0.00	2.67	0.00	0.000	4	0.000	0.070	2173	3643	3381
950	-0.70	-146.6	72.1	-10.4	45	955	0.00	2.58	0.00	0.000	6	0.000	0.051	2173	2230	3381
1278	-0.70	-146.6	99.2	-8.1	61	1279	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2230	3381
1587	-0.70	-146.6	125.2	-8.6	76	1588	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2230	3382
1897	-0.70	-146.6	149.5	-7.4	91	1898	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2230	3382
2205	-0.70	-146.6	170.8	-6.8	106	2210	0.00	2.67	0.00	0.000	4	0.000	0.075	2173	3634	3382
2245	-0.70	-146.6	173.8	-7.9	108	2250	0.00	2.58	0.00	0.000	6	0.000	0.052	2173	2227	3382
2573	-0.70	-146.6	193.3	-5.6	124	2574	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2226	3382
2882	-0.70	-146.6	209.7	-5.0	139	2883	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2226	3382
3192	-0.70	-146.6	225.7	-5.4	154	3193	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2226	3381
3501	-0.75	-146.6	244.7	-6.3	169	3505	0.00	2.70	0.00	0.000	4	0.000	0.081	2173	3634	3382
3541	-0.75	-146.6	247.5	-7.2	171	3546	0.00	2.60	0.00	0.000	6	0.000	0.059	2173	2232	3382
3868	-0.80	-146.6	271.1	-7.6	187	3873	0.00	2.65	0.00	0.000	4	0.000	0.071	2173	819	3381
3909	-0.90	-146.6	274.4	-8.7	189	3914	0.20	2.62	0.00	0.000	6	0.047	0.061	2120	2231	3381
4238	-0.79	-146.6	306.3	-9.8	205	4243	0.17	2.70	0.00	0.000	4	0.091	0.083	2156	3638	3380
4294	-0.79	-146.6	311.4	-8.5	207	4300	0.00	2.65	0.00	0.000	6	0.000	0.067	2156	2231	3380
4610	-0.79	-146.6	335.7	-7.5	223	4611	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2231	3379
4919	-0.79	-146.6	360.1	-7.7	238	4920	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2231	3379
5229	-0.79	-146.6	385.5	-8.0	253	5230	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2231	3379
5537	-0.79	-146.6	407.0	-7.2	268	5539	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2231	3376
5658	end dive: BOTTOM_OBSTACLE_DETECTED
state	5659	begin apogee
5665	-0.31	0.0	416.2	7.9	274	5801	0.52	0.00	128.07	0.988	6	0.099	0.000	2261	2231	2781
5801	end apogee: CONTROL_FINISHED_OK
state	5802	begin climb
5805	0.85	146.6	422.2	0.0	281	5941	1.17	2.88	127.38	0.968	4	0.078	0.088	2507	3644	2183
6138	0.81	185.2	413.0	4.9	296	6178	0.00	2.65	34.65	0.938	6	0.000	0.069	2508	2241	2025
6496	0.87	238.3	396.7	4.5	314	6546	0.00	0.00	47.25	0.949	6	0.000	0.000	2507	2241	1808
6845	0.88	248.2	375.8	5.7	331	6860	0.00	2.78	9.80	0.844	4	0.000	0.077	2508	827	1769
6894	0.88	250.0	372.7	5.9	332	6898	0.00	2.67	0.00	0.000	6	0.000	0.064	2507	2239	1768
7209	0.88	250.0	353.7	6.6	347	7210	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2240	1768
7520	0.88	251.6	334.3	6.0	362	7529	0.00	2.75	4.38	0.668	4	0.000	0.080	2507	823	1755
7563	0.88	251.6	331.5	6.6	364	7567	0.00	2.67	0.00	0.000	6	0.000	0.063	2507	2242	1755
7884	0.91	275.9	314.0	5.3	380	7908	0.00	0.00	22.55	0.906	6	0.000	0.000	2507	2242	1656
8215	0.97	284.0	295.4	5.8	396	8225	0.15	0.00	8.43	0.808	6	0.065	0.000	2545	2242	1623
8523	0.92	284.0	271.0	8.0	411	8527	0.00	2.72	0.00	0.000	4	0.000	0.080	2545	828	1622
8585	0.87	284.0	265.7	8.6	414	8590	0.12	2.67	0.00	0.000	6	0.104	0.063	2522	2247	1621
8912	0.87	284.0	238.6	8.4	430	8913	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2247	1621
9221	0.87	284.0	215.0	7.1	445	9222	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2247	1621
9530	0.87	284.0	196.6	6.4	460	9535	0.00	2.67	0.00	0.000	4	0.000	0.083	2522	3649	1621
9571	0.87	284.0	193.5	8.0	462	9575	0.00	2.67	0.00	0.000	6	0.000	0.070	2522	2237	1621
9897	0.87	284.0	168.4	8.5	478	9901	0.00	2.67	0.00	0.000	4	0.000	0.071	2522	825	1621
9936	0.87	284.0	164.8	9.8	480	9941	0.00	2.65	0.00	0.000	6	0.000	0.061	2522	2243	1620
10264	0.87	284.0	135.2	7.6	496	10265	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2244	1620
10573	0.96	365.1	120.1	3.8	511	10648	0.00	2.80	67.35	0.795	4	0.000	0.076	2522	3648	1292
10680	1.17	451.4	116.7	3.6	516	10763	0.30	2.67	72.15	0.776	6	0.047	0.064	2592	2236	940
11072	1.08	451.4	85.6	7.9	535	11077	0.15	2.67	0.00	0.000	4	0.093	0.067	2560	823	938
11168	1.13	451.4	78.9	6.9	539	11173	0.00	2.62	0.00	0.000	6	0.000	0.054	2561	2251	940
11484	1.13	451.4	51.1	10.3	554	11488	0.00	2.70	0.00	0.000	4	0.000	0.068	2560	827	940
11547	1.20	451.4	44.6	10.0	557	11552	0.15	2.60	0.00	0.000	6	0.052	0.051	2595	2242	940
11875	1.20	451.4	4.9	11.2	573	11880	0.00	2.70	0.00	0.000	4	0.000	0.068	2595	820	941
11900	end climb: SURFACE_DEPTH_REACHED
state	11900	begin surface coast
11906	end surface coast: CONTROL_FINISHED_OK
state	11907	begin surface