Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 340 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 340 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 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 2817 DEVICE6 -1

T_NO_W 300 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 -2085114.6 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 300

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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 -2085114.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 340 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 092925,6244.905,-554.396,70,1.6,70,-8.0 TGT_NAME FC1K

_CALLS 1 TGT_LATLONG 6247.000,-415.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.204,0.086

_SM_DEPTHo 1.33 KALMAN_X 78411.4,-1570.3,-196.2,91586.2,188.0

_SM_ANGLEo -55.1 KALMAN_Y -13284.2,1830.3,580.3,134241.5,-32675.2

GPS2 093528,6244.852,-554.473,15,1.5,34,-8.0 MHEAD_RNG_PITCHd_Wd 95.3,84350,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.015868 ALTIM_BOTTOM_PING 350.1,87.3

SM_CCo 11544,30.45,0.609,2,0,1592,300.00 _24V_AH 23.6,53.464

SM_GC 1.38,0.00,0.00,30.45,0.000,0.000,0.609,74,2403,1592,-10.75,0.08,300.00 _10V_AH 10.2,27.745

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28591,554

TT8_MAMPS 0.02301 CFSIZE 260165632,240603136

HUMID 2097 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,2,0

TCM_TEMP 16.70 GPS 150108,125057,6245.441,-549.453,38,3.8,57,-7.9

XPDR_PINGS 11

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 178 108.08 SBE_CT 402 24 227.94

Roll_motor 96 82 188.70 SBE_O2 378 19 169.69

VBD_pump_during_apogee 323 962 7341.00 WL_BB2F 476 105 1180.21

VBD_pump_during_surface 30 608 437.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.22 nil 0 0 0.00

Iridium_during_connect 36 160 138.63 nil 0 0 0.00

Iridium_during_xfer 169 223 891.58

Transponder_ping 5 420 52.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.62

TT8 1013 19 204.73

LPSleep 8852 2 197.75

TT8_Active 453 19 91.53

TT8_Sampling 1209 39 490.88

TT8_CF8 424 45 198.48

TT8_Kalman 33 81 27.85

Analog_circuits 1060 12 129.80

GPS_charging 0 0 0.00

Compass 1165 8 95.14

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

25 -0.85 -146.6 0.0 0.0 0 86 0.00 0.00 -59.78 0.000 2 0.000 0.000 67 2401 3012

89 -0.85 -146.6 3.5 -4.9 3 115 12.35 0.00 -9.80 0.000 6 0.179 0.000 2222 2402 3417

422 -0.85 -146.6 30.1 -7.1 19 423 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2401 3418

730 -0.85 -146.6 42.4 -2.9 34 734 0.00 2.67 0.00 0.000 4 0.000 0.071 2222 982 3418

785 -0.85 -146.6 43.6 -2.6 36 791 0.00 2.62 0.00 0.000 6 0.000 0.059 2222 2402 3418

1101 -0.85 -146.6 58.5 -5.9 52 1102 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2402 3418

1409 -0.85 -146.6 83.9 -10.5 67 1414 0.00 2.67 0.00 0.000 4 0.000 0.071 2222 977 3418

1436 -0.85 -146.6 85.6 -5.9 68 1441 0.00 2.62 0.00 0.000 6 0.000 0.058 2222 2400 3418

1753 -0.85 -146.6 106.9 -7.1 83 1755 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3418

2062 -0.85 -146.6 126.6 -6.4 98 2063 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3418

2371 -0.85 -146.6 145.4 -3.3 113 2372 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3418

2680 -0.85 -146.6 160.0 -5.7 128 2684 0.00 2.67 0.00 0.000 4 0.000 0.072 2222 979 3418

2743 -0.85 -146.6 163.1 -4.5 131 2747 0.00 2.62 0.00 0.000 6 0.000 0.061 2222 2404 3419

3068 -0.85 -146.6 181.0 -6.4 147 3070 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3418

3378 -0.85 -146.6 207.2 -9.2 162 3383 0.00 2.67 0.00 0.000 4 0.000 0.074 2223 982 3418

3411 -0.85 -146.6 210.1 -8.4 163 3417 0.00 2.60 0.00 0.000 6 0.000 0.061 2222 2400 3418

3727 -0.85 -146.6 234.5 -8.5 179 3728 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2400 3419

4037 -0.85 -146.6 257.8 -8.0 194 4041 0.00 2.67 0.00 0.000 4 0.000 0.073 2222 976 3418

4080 -0.85 -146.6 261.7 -8.6 196 4084 0.00 2.60 0.00 0.000 6 0.000 0.062 2222 2400 3418

4407 -0.85 -146.6 287.4 -8.6 212 4408 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2400 3418

4717 -0.85 -146.6 315.9 -9.6 227 4721 0.00 2.67 0.00 0.000 4 0.000 0.074 2223 976 3418

4743 -0.85 -146.6 318.4 -9.1 228 4748 0.00 2.62 0.00 0.000 6 0.000 0.063 2222 2402 3418

5059 -0.85 -146.6 343.9 -7.7 243 5063 0.00 2.67 0.00 0.000 4 0.000 0.075 2222 980 3418

5097 -0.85 -146.6 347.1 -8.3 245 5102 0.00 2.62 0.00 0.000 6 0.000 0.063 2222 2401 3418

5425 -0.85 -146.6 374.4 -8.7 261 5429 0.00 2.67 0.00 0.000 4 0.000 0.075 2222 981 3418

5451 -0.85 -146.6 376.9 -8.4 262 5456 0.00 2.62 0.00 0.000 6 0.000 0.064 2222 2401 3418

5767 -0.85 -146.6 402.8 -7.8 277 5771 0.00 2.70 0.00 0.000 4 0.000 0.075 2222 976 3418

5800 -0.85 -146.6 405.4 -8.0 278 5806 0.00 2.65 0.00 0.000 6 0.000 0.063 2223 2400 3418

6113 end dive: BOTTOM_OBSTACLE_DETECTED

state 6113 begin apogee

6119 -0.31 0.0 428.8 7.2 294 6242 0.57 0.00 119.95 0.963 6 0.107 0.000 2338 2189 2817

6243 end apogee: CONTROL_FINISHED_OK

state 6243 begin climb

6246 0.85 146.6 433.1 0.0 300 6373 1.20 2.75 117.57 0.945 4 0.078 0.072 2589 789 2219

6395 0.93 228.1 430.0 3.8 307 6467 0.12 2.62 65.32 0.926 6 0.055 0.055 2622 2202 1887

6776 0.93 228.1 398.1 11.8 325 6781 0.00 2.72 0.00 0.000 4 0.000 0.083 2622 3616 1884

6861 0.93 228.1 388.5 10.3 329 6865 0.00 2.70 0.00 0.000 6 0.000 0.071 2622 2204 1884

7186 0.93 228.1 362.9 6.8 345 7191 0.00 2.72 0.00 0.000 4 0.000 0.077 2622 782 1884

7237 0.93 228.1 359.2 7.6 347 7241 0.00 2.62 0.00 0.000 6 0.000 0.055 2622 2201 1883

7552 0.93 228.1 334.9 7.1 362 7556 0.00 2.72 0.00 0.000 4 0.000 0.074 2622 775 1883

7578 0.93 228.1 332.8 7.9 363 7583 0.00 2.65 0.00 0.000 6 0.000 0.055 2622 2204 1883

7894 0.93 228.1 310.3 7.3 378 7896 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2204 1883

8203 0.93 228.1 286.5 8.3 393 8207 0.00 2.70 0.00 0.000 4 0.000 0.071 2622 779 1882

8235 0.93 228.1 284.0 7.3 394 8242 0.00 2.62 0.00 0.000 6 0.000 0.054 2622 2204 1882

8551 0.93 228.1 258.8 8.4 410 8552 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2204 1882

8860 0.93 228.1 234.1 8.2 425 8864 0.00 2.70 0.00 0.000 4 0.000 0.073 2622 781 1882

8892 0.93 228.1 230.9 9.7 426 8898 0.00 2.60 0.00 0.000 6 0.000 0.053 2622 2201 1882

9208 0.93 228.1 200.0 10.4 442 9209 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2201 1881

9517 0.93 228.1 163.2 12.0 457 9518 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2201 1882

9827 0.96 253.2 140.1 5.3 472 9849 0.00 0.00 20.30 0.739 6 0.000 0.000 2623 2201 1784

10160 0.96 253.2 122.1 9.2 488 10164 0.00 2.70 0.00 0.000 4 0.000 0.072 2623 781 1784

10199 0.96 253.2 117.5 11.0 490 10203 0.00 2.60 0.00 0.000 6 0.000 0.052 2622 2201 1784

10525 0.96 253.2 87.4 8.4 506 10526 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2201 1784

10835 0.96 253.2 55.2 8.9 521 10839 0.00 2.70 0.00 0.000 4 0.000 0.071 2622 774 1783

10861 0.96 253.2 53.3 7.0 522 10866 0.00 2.60 0.00 0.000 6 0.000 0.051 2622 2201 1784

11177 0.96 253.2 31.6 8.5 537 11182 0.00 2.65 0.00 0.000 4 0.000 0.075 2622 3613 1784

11217 0.96 253.2 28.5 8.7 539 11222 0.00 2.62 0.00 0.000 6 0.000 0.062 2622 2196 1784

11501 end climb: SURFACE_DEPTH_REACHED

state 11501 begin surface coast

11522 end surface coast: CONTROL_FINISHED_OK

state 11522 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	340	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	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	2817	DEVICE6	-1
T_NO_W	300	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	-2085114.6	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	092925,6244.905,-554.396,70,1.6,70,-8.0	TGT_NAME	FC1K
_CALLS	1	TGT_LATLONG	6247.000,-415.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.204,0.086
_SM_DEPTHo	1.33	KALMAN_X	78411.4,-1570.3,-196.2,91586.2,188.0
_SM_ANGLEo	-55.1	KALMAN_Y	-13284.2,1830.3,580.3,134241.5,-32675.2
GPS2	093528,6244.852,-554.473,15,1.5,34,-8.0	MHEAD_RNG_PITCHd_Wd	95.3,84350,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.015868	ALTIM_BOTTOM_PING	350.1,87.3
SM_CCo	11544,30.45,0.609,2,0,1592,300.00	_24V_AH	23.6,53.464
SM_GC	1.38,0.00,0.00,30.45,0.000,0.000,0.609,74,2403,1592,-10.75,0.08,300.00	_10V_AH	10.2,27.745
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28591,554
TT8_MAMPS	0.02301	CFSIZE	260165632,240603136
HUMID	2097	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
TCM_TEMP	16.70	GPS	150108,125057,6245.441,-549.453,38,3.8,57,-7.9
XPDR_PINGS	11

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	178	108.08	SBE_CT	402	24	227.94
Roll_motor	96	82	188.70	SBE_O2	378	19	169.69
VBD_pump_during_apogee	323	962	7341.00	WL_BB2F	476	105	1180.21
VBD_pump_during_surface	30	608	437.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.22	nil	0	0	0.00
Iridium_during_connect	36	160	138.63	nil	0	0	0.00
Iridium_during_xfer	169	223	891.58
Transponder_ping	5	420	52.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.62
TT8	1013	19	204.73
LPSleep	8852	2	197.75
TT8_Active	453	19	91.53
TT8_Sampling	1209	39	490.88
TT8_CF8	424	45	198.48
TT8_Kalman	33	81	27.85
Analog_circuits	1060	12	129.80
GPS_charging	0	0	0.00
Compass	1165	8	95.14
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
25	-0.85	-146.6	0.0	0.0	0	86	0.00	0.00	-59.78	0.000	2	0.000	0.000	67	2401	3012
89	-0.85	-146.6	3.5	-4.9	3	115	12.35	0.00	-9.80	0.000	6	0.179	0.000	2222	2402	3417
422	-0.85	-146.6	30.1	-7.1	19	423	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2401	3418
730	-0.85	-146.6	42.4	-2.9	34	734	0.00	2.67	0.00	0.000	4	0.000	0.071	2222	982	3418
785	-0.85	-146.6	43.6	-2.6	36	791	0.00	2.62	0.00	0.000	6	0.000	0.059	2222	2402	3418
1101	-0.85	-146.6	58.5	-5.9	52	1102	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2402	3418
1409	-0.85	-146.6	83.9	-10.5	67	1414	0.00	2.67	0.00	0.000	4	0.000	0.071	2222	977	3418
1436	-0.85	-146.6	85.6	-5.9	68	1441	0.00	2.62	0.00	0.000	6	0.000	0.058	2222	2400	3418
1753	-0.85	-146.6	106.9	-7.1	83	1755	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3418
2062	-0.85	-146.6	126.6	-6.4	98	2063	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3418
2371	-0.85	-146.6	145.4	-3.3	113	2372	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3418
2680	-0.85	-146.6	160.0	-5.7	128	2684	0.00	2.67	0.00	0.000	4	0.000	0.072	2222	979	3418
2743	-0.85	-146.6	163.1	-4.5	131	2747	0.00	2.62	0.00	0.000	6	0.000	0.061	2222	2404	3419
3068	-0.85	-146.6	181.0	-6.4	147	3070	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3418
3378	-0.85	-146.6	207.2	-9.2	162	3383	0.00	2.67	0.00	0.000	4	0.000	0.074	2223	982	3418
3411	-0.85	-146.6	210.1	-8.4	163	3417	0.00	2.60	0.00	0.000	6	0.000	0.061	2222	2400	3418
3727	-0.85	-146.6	234.5	-8.5	179	3728	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2400	3419
4037	-0.85	-146.6	257.8	-8.0	194	4041	0.00	2.67	0.00	0.000	4	0.000	0.073	2222	976	3418
4080	-0.85	-146.6	261.7	-8.6	196	4084	0.00	2.60	0.00	0.000	6	0.000	0.062	2222	2400	3418
4407	-0.85	-146.6	287.4	-8.6	212	4408	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2400	3418
4717	-0.85	-146.6	315.9	-9.6	227	4721	0.00	2.67	0.00	0.000	4	0.000	0.074	2223	976	3418
4743	-0.85	-146.6	318.4	-9.1	228	4748	0.00	2.62	0.00	0.000	6	0.000	0.063	2222	2402	3418
5059	-0.85	-146.6	343.9	-7.7	243	5063	0.00	2.67	0.00	0.000	4	0.000	0.075	2222	980	3418
5097	-0.85	-146.6	347.1	-8.3	245	5102	0.00	2.62	0.00	0.000	6	0.000	0.063	2222	2401	3418
5425	-0.85	-146.6	374.4	-8.7	261	5429	0.00	2.67	0.00	0.000	4	0.000	0.075	2222	981	3418
5451	-0.85	-146.6	376.9	-8.4	262	5456	0.00	2.62	0.00	0.000	6	0.000	0.064	2222	2401	3418
5767	-0.85	-146.6	402.8	-7.8	277	5771	0.00	2.70	0.00	0.000	4	0.000	0.075	2222	976	3418
5800	-0.85	-146.6	405.4	-8.0	278	5806	0.00	2.65	0.00	0.000	6	0.000	0.063	2223	2400	3418
6113	end dive: BOTTOM_OBSTACLE_DETECTED
state	6113	begin apogee
6119	-0.31	0.0	428.8	7.2	294	6242	0.57	0.00	119.95	0.963	6	0.107	0.000	2338	2189	2817
6243	end apogee: CONTROL_FINISHED_OK
state	6243	begin climb
6246	0.85	146.6	433.1	0.0	300	6373	1.20	2.75	117.57	0.945	4	0.078	0.072	2589	789	2219
6395	0.93	228.1	430.0	3.8	307	6467	0.12	2.62	65.32	0.926	6	0.055	0.055	2622	2202	1887
6776	0.93	228.1	398.1	11.8	325	6781	0.00	2.72	0.00	0.000	4	0.000	0.083	2622	3616	1884
6861	0.93	228.1	388.5	10.3	329	6865	0.00	2.70	0.00	0.000	6	0.000	0.071	2622	2204	1884
7186	0.93	228.1	362.9	6.8	345	7191	0.00	2.72	0.00	0.000	4	0.000	0.077	2622	782	1884
7237	0.93	228.1	359.2	7.6	347	7241	0.00	2.62	0.00	0.000	6	0.000	0.055	2622	2201	1883
7552	0.93	228.1	334.9	7.1	362	7556	0.00	2.72	0.00	0.000	4	0.000	0.074	2622	775	1883
7578	0.93	228.1	332.8	7.9	363	7583	0.00	2.65	0.00	0.000	6	0.000	0.055	2622	2204	1883
7894	0.93	228.1	310.3	7.3	378	7896	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2204	1883
8203	0.93	228.1	286.5	8.3	393	8207	0.00	2.70	0.00	0.000	4	0.000	0.071	2622	779	1882
8235	0.93	228.1	284.0	7.3	394	8242	0.00	2.62	0.00	0.000	6	0.000	0.054	2622	2204	1882
8551	0.93	228.1	258.8	8.4	410	8552	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2204	1882
8860	0.93	228.1	234.1	8.2	425	8864	0.00	2.70	0.00	0.000	4	0.000	0.073	2622	781	1882
8892	0.93	228.1	230.9	9.7	426	8898	0.00	2.60	0.00	0.000	6	0.000	0.053	2622	2201	1882
9208	0.93	228.1	200.0	10.4	442	9209	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2201	1881
9517	0.93	228.1	163.2	12.0	457	9518	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2201	1882
9827	0.96	253.2	140.1	5.3	472	9849	0.00	0.00	20.30	0.739	6	0.000	0.000	2623	2201	1784
10160	0.96	253.2	122.1	9.2	488	10164	0.00	2.70	0.00	0.000	4	0.000	0.072	2623	781	1784
10199	0.96	253.2	117.5	11.0	490	10203	0.00	2.60	0.00	0.000	6	0.000	0.052	2622	2201	1784
10525	0.96	253.2	87.4	8.4	506	10526	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2201	1784
10835	0.96	253.2	55.2	8.9	521	10839	0.00	2.70	0.00	0.000	4	0.000	0.071	2622	774	1783
10861	0.96	253.2	53.3	7.0	522	10866	0.00	2.60	0.00	0.000	6	0.000	0.051	2622	2201	1784
11177	0.96	253.2	31.6	8.5	537	11182	0.00	2.65	0.00	0.000	4	0.000	0.075	2622	3613	1784
11217	0.96	253.2	28.5	8.7	539	11222	0.00	2.62	0.00	0.000	6	0.000	0.062	2622	2196	1784
11501	end climb: SURFACE_DEPTH_REACHED
state	11501	begin surface coast
11522	end surface coast: CONTROL_FINISHED_OK
state	11522	begin surface