Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 326 * 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 326 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 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 -2100423.5 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 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 -2100423.5

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 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 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 326 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 192937,6442.439,-1052.164,42,1.4,53,-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 1.37 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -59.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 193447,6442.420,-1052.276,11,2.8,30,-11.5 MHEAD_RNG_PITCHd_Wd 35.7,23515,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027006 ALTIM_BOTTOM_PING 376.2,55.1

SM_CCo 12061,136.57,0.659,1,0,508,557.32 _24V_AH 23.4,52.885

SM_GC 1.46,0.00,0.00,136.57,0.000,0.000,0.659,72,2235,508,-10.39,0.14,557.32 _10V_AH 10.1,26.173

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28532,581

TT8_MAMPS 0.02301 CAP_FILE_SIZE 81829,0

HUMID 1943 CFSIZE 260165632,240345088

TCM_TEMP 18.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 48 GPS 070808,225955,6444.234,-1051.397,31,1.2,48,-11.5

ALTIM_TOP_PING 19.2,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 100.75 SBE_CT 434 24 244.27

Roll_motor 79 88 164.81 SBE_O2 394 19 175.46

VBD_pump_during_apogee 386 992 8986.12 WL_BB2F 486 105 1194.39

VBD_pump_during_surface 136 658 2105.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.52 nil 0 0 0.00

Iridium_during_connect 27 160 103.62 nil 0 0 0.00

Iridium_during_xfer 132 223 689.55

Transponder_ping 15 420 147.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.90

TT8 1046 19 209.35

LPSleep 9160 2 202.62

TT8_Active 710 19 142.06

TT8_Sampling 1201 39 483.00

TT8_CF8 398 45 184.51

TT8_Kalman 0 81 0.00

Analog_circuits 1300 12 157.58

GPS_charging 0 0 0.00

Compass 1166 8 94.29

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 0 132 0.00 0.00 -106.18 0.000 2 0.000 0.000 70 2232 2482

136 -0.85 -146.6 3.1 -1.9 6 185 11.77 0.00 -34.10 0.000 6 0.170 0.000 2141 2232 3379

483 -0.71 -146.6 39.5 -11.2 23 488 0.15 2.62 0.00 0.000 4 0.101 0.065 2173 3638 3380

511 -0.71 -146.6 42.8 -10.4 24 515 0.00 2.60 0.00 0.000 6 0.000 0.052 2173 2221 3380

827 -0.71 -146.6 64.9 -5.0 39 831 0.00 2.60 0.00 0.000 4 0.000 0.060 2173 814 3380

928 -0.78 -146.6 70.6 -6.1 43 934 0.00 2.58 0.00 0.000 6 0.000 0.050 2173 2228 3381

1245 -0.78 -146.6 91.1 -6.2 59 1250 0.00 2.65 0.00 0.000 4 0.000 0.070 2173 3641 3382

1301 -0.78 -146.6 94.8 -6.8 61 1307 0.00 2.60 0.00 0.000 6 0.000 0.055 2173 2228 3382

1618 -0.78 -146.6 113.1 -5.8 77 1619 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2228 3383

1926 -0.78 -146.6 132.3 -5.9 92 1927 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2228 3383

2236 -0.78 -146.6 150.4 -6.0 107 2241 0.00 2.67 0.00 0.000 4 0.000 0.075 2173 3640 3383

2288 -0.82 -146.6 153.7 -6.3 109 2293 0.12 2.60 0.00 0.000 6 0.060 0.056 2146 2226 3383

2604 -0.77 -146.6 177.0 -7.6 124 2608 0.00 2.62 0.00 0.000 4 0.000 0.064 2146 816 3383

2647 -0.77 -146.6 180.7 -8.3 126 2652 0.00 2.60 0.00 0.000 6 0.000 0.054 2146 2229 3383

2970 -0.72 -146.6 209.6 -9.1 142 2975 0.15 2.67 0.00 0.000 4 0.090 0.075 2179 3643 3383

3026 -0.79 -146.6 214.4 -8.2 144 3032 0.00 2.62 0.00 0.000 6 0.000 0.058 2179 2224 3383

3341 -0.85 -146.6 236.9 -6.9 160 3343 0.17 0.00 0.00 0.000 6 0.049 0.000 2137 2225 3382

3651 -0.78 -146.6 263.1 -8.6 175 3653 0.12 0.00 0.00 0.000 6 0.094 0.000 2160 2224 3383

3960 -0.78 -146.6 285.4 -7.1 190 3961 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2225 3382

4270 -0.78 -146.6 306.2 -6.6 205 4271 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2225 3382

4578 -0.78 -146.6 328.5 -7.3 220 4579 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2224 3380

4890 -0.78 -146.6 351.2 -7.3 235 4891 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2225 3380

5197 -0.78 -146.6 372.2 -6.9 250 5199 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2225 3380

5506 -0.78 -146.6 392.3 -6.5 265 5510 0.00 2.75 0.00 0.000 4 0.000 0.088 2160 3636 3379

5555 -0.78 -146.6 395.9 -7.2 267 5560 0.00 2.62 0.00 0.000 6 0.000 0.065 2161 2228 3378

5872 -0.78 -146.6 417.6 -6.9 282 5873 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2229 3377

5930 end dive: BOTTOM_OBSTACLE_DETECTED

state 5930 begin apogee

5937 -0.31 0.0 421.8 6.6 285 6072 0.50 0.00 128.25 0.992 6 0.097 0.000 2260 2228 2781

6073 end apogee: CONTROL_FINISHED_OK

state 6073 begin climb

6076 0.85 146.6 424.3 0.0 292 6207 1.20 0.00 127.68 0.971 6 0.071 0.000 2510 2228 2183

6506 0.84 206.6 410.4 4.4 313 6568 0.00 2.85 52.38 0.951 4 0.000 0.086 2510 3638 1938

6602 0.84 206.6 404.4 7.6 317 6606 0.00 2.67 0.00 0.000 6 0.000 0.067 2510 2240 1938

6918 0.89 258.1 388.6 4.6 332 6966 0.00 0.00 45.83 0.943 6 0.000 0.000 2510 2240 1727

7267 0.89 258.1 366.3 8.1 349 7268 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2240 1727

7579 0.94 258.1 344.1 7.8 364 7584 0.10 2.70 0.00 0.000 4 0.085 0.075 2532 830 1726

7619 0.94 258.1 340.9 7.1 366 7624 0.00 2.67 0.00 0.000 6 0.000 0.064 2532 2244 1725

7946 0.94 258.1 316.4 7.8 382 7947 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2244 1725

8254 0.94 258.1 291.1 8.1 397 8259 0.00 2.72 0.00 0.000 4 0.000 0.079 2532 829 1724

8294 0.94 258.1 287.6 8.7 399 8298 0.00 2.65 0.00 0.000 6 0.000 0.063 2532 2240 1723

8621 0.94 258.1 256.6 10.1 415 8625 0.00 2.72 0.00 0.000 4 0.000 0.084 2532 3650 1723

8665 0.94 258.1 251.8 10.1 417 8669 0.00 2.67 0.00 0.000 6 0.000 0.071 2532 2240 1723

8985 0.94 258.1 219.9 10.2 433 8989 0.00 2.70 0.00 0.000 4 0.000 0.075 2532 823 1722

9030 0.94 258.1 215.6 9.9 435 9034 0.00 2.65 0.00 0.000 6 0.000 0.062 2532 2241 1722

9351 0.94 258.1 187.7 8.0 451 9352 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2242 1722

9660 0.94 258.1 167.8 6.1 466 9661 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2242 1722

9969 0.95 273.6 149.1 5.6 481 9988 0.00 0.00 13.60 0.778 6 0.000 0.000 2532 2242 1664

10300 0.95 273.6 130.2 6.0 497 10301 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2242 1664

10608 0.95 273.6 111.0 6.0 512 10612 0.00 2.67 0.00 0.000 4 0.000 0.074 2532 3651 1664

10671 0.95 273.6 106.6 7.6 515 10675 0.00 2.65 0.00 0.000 6 0.000 0.061 2532 2234 1664

10999 0.95 273.6 80.3 9.2 531 11000 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2234 1664

11307 0.95 273.6 50.9 8.8 546 11308 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2234 1665

11617 0.98 295.2 31.5 5.4 561 11642 0.00 2.78 19.20 0.691 4 0.000 0.074 2532 3663 1577

11677 1.03 295.2 27.8 6.2 563 11684 0.10 2.67 0.00 0.000 6 0.063 0.059 2559 2235 1577

11994 0.98 295.2 4.5 8.0 579 11998 0.00 2.62 0.00 0.000 4 0.000 0.063 2559 826 1577

12018 end climb: SURFACE_DEPTH_REACHED

state 12018 begin surface coast

12037 end surface coast: CONTROL_FINISHED_OK

state 12037 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	326	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	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	-2100423.5	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	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	192937,6442.439,-1052.164,42,1.4,53,-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	1.37	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-59.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	193447,6442.420,-1052.276,11,2.8,30,-11.5	MHEAD_RNG_PITCHd_Wd	35.7,23515,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.027006	ALTIM_BOTTOM_PING	376.2,55.1
SM_CCo	12061,136.57,0.659,1,0,508,557.32	_24V_AH	23.4,52.885
SM_GC	1.46,0.00,0.00,136.57,0.000,0.000,0.659,72,2235,508,-10.39,0.14,557.32	_10V_AH	10.1,26.173
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28532,581
TT8_MAMPS	0.02301	CAP_FILE_SIZE	81829,0
HUMID	1943	CFSIZE	260165632,240345088
TCM_TEMP	18.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	48	GPS	070808,225955,6444.234,-1051.397,31,1.2,48,-11.5
ALTIM_TOP_PING	19.2,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	100.75	SBE_CT	434	24	244.27
Roll_motor	79	88	164.81	SBE_O2	394	19	175.46
VBD_pump_during_apogee	386	992	8986.12	WL_BB2F	486	105	1194.39
VBD_pump_during_surface	136	658	2105.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.52	nil	0	0	0.00
Iridium_during_connect	27	160	103.62	nil	0	0	0.00
Iridium_during_xfer	132	223	689.55
Transponder_ping	15	420	147.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.90
TT8	1046	19	209.35
LPSleep	9160	2	202.62
TT8_Active	710	19	142.06
TT8_Sampling	1201	39	483.00
TT8_CF8	398	45	184.51
TT8_Kalman	0	81	0.00
Analog_circuits	1300	12	157.58
GPS_charging	0	0	0.00
Compass	1166	8	94.29
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	132	0.00	0.00	-106.18	0.000	2	0.000	0.000	70	2232	2482
136	-0.85	-146.6	3.1	-1.9	6	185	11.77	0.00	-34.10	0.000	6	0.170	0.000	2141	2232	3379
483	-0.71	-146.6	39.5	-11.2	23	488	0.15	2.62	0.00	0.000	4	0.101	0.065	2173	3638	3380
511	-0.71	-146.6	42.8	-10.4	24	515	0.00	2.60	0.00	0.000	6	0.000	0.052	2173	2221	3380
827	-0.71	-146.6	64.9	-5.0	39	831	0.00	2.60	0.00	0.000	4	0.000	0.060	2173	814	3380
928	-0.78	-146.6	70.6	-6.1	43	934	0.00	2.58	0.00	0.000	6	0.000	0.050	2173	2228	3381
1245	-0.78	-146.6	91.1	-6.2	59	1250	0.00	2.65	0.00	0.000	4	0.000	0.070	2173	3641	3382
1301	-0.78	-146.6	94.8	-6.8	61	1307	0.00	2.60	0.00	0.000	6	0.000	0.055	2173	2228	3382
1618	-0.78	-146.6	113.1	-5.8	77	1619	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2228	3383
1926	-0.78	-146.6	132.3	-5.9	92	1927	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2228	3383
2236	-0.78	-146.6	150.4	-6.0	107	2241	0.00	2.67	0.00	0.000	4	0.000	0.075	2173	3640	3383
2288	-0.82	-146.6	153.7	-6.3	109	2293	0.12	2.60	0.00	0.000	6	0.060	0.056	2146	2226	3383
2604	-0.77	-146.6	177.0	-7.6	124	2608	0.00	2.62	0.00	0.000	4	0.000	0.064	2146	816	3383
2647	-0.77	-146.6	180.7	-8.3	126	2652	0.00	2.60	0.00	0.000	6	0.000	0.054	2146	2229	3383
2970	-0.72	-146.6	209.6	-9.1	142	2975	0.15	2.67	0.00	0.000	4	0.090	0.075	2179	3643	3383
3026	-0.79	-146.6	214.4	-8.2	144	3032	0.00	2.62	0.00	0.000	6	0.000	0.058	2179	2224	3383
3341	-0.85	-146.6	236.9	-6.9	160	3343	0.17	0.00	0.00	0.000	6	0.049	0.000	2137	2225	3382
3651	-0.78	-146.6	263.1	-8.6	175	3653	0.12	0.00	0.00	0.000	6	0.094	0.000	2160	2224	3383
3960	-0.78	-146.6	285.4	-7.1	190	3961	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2225	3382
4270	-0.78	-146.6	306.2	-6.6	205	4271	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2225	3382
4578	-0.78	-146.6	328.5	-7.3	220	4579	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2224	3380
4890	-0.78	-146.6	351.2	-7.3	235	4891	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2225	3380
5197	-0.78	-146.6	372.2	-6.9	250	5199	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2225	3380
5506	-0.78	-146.6	392.3	-6.5	265	5510	0.00	2.75	0.00	0.000	4	0.000	0.088	2160	3636	3379
5555	-0.78	-146.6	395.9	-7.2	267	5560	0.00	2.62	0.00	0.000	6	0.000	0.065	2161	2228	3378
5872	-0.78	-146.6	417.6	-6.9	282	5873	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2229	3377
5930	end dive: BOTTOM_OBSTACLE_DETECTED
state	5930	begin apogee
5937	-0.31	0.0	421.8	6.6	285	6072	0.50	0.00	128.25	0.992	6	0.097	0.000	2260	2228	2781
6073	end apogee: CONTROL_FINISHED_OK
state	6073	begin climb
6076	0.85	146.6	424.3	0.0	292	6207	1.20	0.00	127.68	0.971	6	0.071	0.000	2510	2228	2183
6506	0.84	206.6	410.4	4.4	313	6568	0.00	2.85	52.38	0.951	4	0.000	0.086	2510	3638	1938
6602	0.84	206.6	404.4	7.6	317	6606	0.00	2.67	0.00	0.000	6	0.000	0.067	2510	2240	1938
6918	0.89	258.1	388.6	4.6	332	6966	0.00	0.00	45.83	0.943	6	0.000	0.000	2510	2240	1727
7267	0.89	258.1	366.3	8.1	349	7268	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2240	1727
7579	0.94	258.1	344.1	7.8	364	7584	0.10	2.70	0.00	0.000	4	0.085	0.075	2532	830	1726
7619	0.94	258.1	340.9	7.1	366	7624	0.00	2.67	0.00	0.000	6	0.000	0.064	2532	2244	1725
7946	0.94	258.1	316.4	7.8	382	7947	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2244	1725
8254	0.94	258.1	291.1	8.1	397	8259	0.00	2.72	0.00	0.000	4	0.000	0.079	2532	829	1724
8294	0.94	258.1	287.6	8.7	399	8298	0.00	2.65	0.00	0.000	6	0.000	0.063	2532	2240	1723
8621	0.94	258.1	256.6	10.1	415	8625	0.00	2.72	0.00	0.000	4	0.000	0.084	2532	3650	1723
8665	0.94	258.1	251.8	10.1	417	8669	0.00	2.67	0.00	0.000	6	0.000	0.071	2532	2240	1723
8985	0.94	258.1	219.9	10.2	433	8989	0.00	2.70	0.00	0.000	4	0.000	0.075	2532	823	1722
9030	0.94	258.1	215.6	9.9	435	9034	0.00	2.65	0.00	0.000	6	0.000	0.062	2532	2241	1722
9351	0.94	258.1	187.7	8.0	451	9352	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2242	1722
9660	0.94	258.1	167.8	6.1	466	9661	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2242	1722
9969	0.95	273.6	149.1	5.6	481	9988	0.00	0.00	13.60	0.778	6	0.000	0.000	2532	2242	1664
10300	0.95	273.6	130.2	6.0	497	10301	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2242	1664
10608	0.95	273.6	111.0	6.0	512	10612	0.00	2.67	0.00	0.000	4	0.000	0.074	2532	3651	1664
10671	0.95	273.6	106.6	7.6	515	10675	0.00	2.65	0.00	0.000	6	0.000	0.061	2532	2234	1664
10999	0.95	273.6	80.3	9.2	531	11000	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2234	1664
11307	0.95	273.6	50.9	8.8	546	11308	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2234	1665
11617	0.98	295.2	31.5	5.4	561	11642	0.00	2.78	19.20	0.691	4	0.000	0.074	2532	3663	1577
11677	1.03	295.2	27.8	6.2	563	11684	0.10	2.67	0.00	0.000	6	0.063	0.059	2559	2235	1577
11994	0.98	295.2	4.5	8.0	579	11998	0.00	2.62	0.00	0.000	4	0.000	0.063	2559	826	1577
12018	end climb: SURFACE_DEPTH_REACHED
state	12018	begin surface coast
12037	end surface coast: CONTROL_FINISHED_OK
state	12037	begin surface