Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 415 * 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 415 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 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 -2087180.4 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 -2087180.4

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 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 415 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 000108,6149.284,-51.758,38,1.6,38,-5.0 TGT_NAME ESEC_SE

_CALLS 3 TGT_LATLONG 6128.000,-342.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.202,-0.090

_SM_DEPTHo 1.34 KALMAN_X 109567.5,-3587.3,-866.2,330188.0,76350.7

_SM_ANGLEo -59.4 KALMAN_Y 54287.1,-2872.2,-674.1,-29543.7,60742.0

GPS2 001357,6149.597,-51.006,15,1.6,15,-5.0 MHEAD_RNG_PITCHd_Wd 260.2,156468,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027375 ALTIM_BOTTOM_PING 350.9,88.8

SM_CCo 11198,37.75,0.604,2,0,1594,300.00 _24V_AH 23.6,64.400

SM_GC 1.33,0.00,0.00,37.75,0.000,0.000,0.604,65,2403,1594,-10.79,0.08,300.00 _10V_AH 10.2,34.726

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 25383,537

TT8_MAMPS 0.02301 CFSIZE 260165632,235802624

HUMID 2111 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,2,0

TCM_TEMP 19.30 GPS 030208,032351,6152.833,-46.447,36,2.4,55,-5.0

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 102.21 SBE_CT 391 24 221.61

Roll_motor 80 78 148.40 SBE_O2 369 19 165.50

VBD_pump_during_apogee 313 947 6999.90 WL_BB2F 410 105 1018.43

VBD_pump_during_surface 37 603 537.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 100 103 244.44 nil 0 0 0.00

Iridium_during_connect 118 160 447.61 nil 0 0 0.00

Iridium_during_xfer 303 223 1596.58

Transponder_ping 4 420 42.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.90

TT8 990 19 199.96

LPSleep 8645 2 193.13

TT8_Active 453 19 91.58

TT8_Sampling 1194 39 484.79

TT8_CF8 742 45 346.82

TT8_Kalman 33 81 27.84

Analog_circuits 1056 12 129.26

GPS_charging 0 0 0.00

Compass 1170 8 95.47

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 91 0.00 0.00 -65.80 0.000 2 0.000 0.000 67 2405 3018

95 -0.85 -146.6 3.5 -3.5 4 124 12.20 2.70 -9.30 0.000 4 0.170 0.076 2220 973 3416

203 -0.85 -146.6 17.7 -9.7 9 208 0.00 2.65 0.00 0.000 6 0.000 0.055 2221 2401 3417

526 -0.85 -146.6 46.6 -7.1 25 527 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3417

836 -0.85 -146.6 77.5 -13.0 40 840 0.00 2.67 0.00 0.000 4 0.000 0.067 2220 976 3417

875 -0.85 -146.6 81.1 -6.7 42 880 0.00 2.62 0.00 0.000 6 0.000 0.059 2220 2400 3417

1203 -0.85 -146.6 105.3 -9.1 58 1204 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2400 3417

1512 -0.85 -146.6 137.1 -9.2 73 1513 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3417

1820 -0.85 -146.6 166.3 -9.5 88 1825 0.00 2.65 0.00 0.000 4 0.000 0.068 2220 980 3417

1877 -0.85 -146.6 170.9 -8.3 90 1883 0.00 2.60 0.00 0.000 6 0.000 0.058 2220 2400 3417

2192 -0.85 -146.6 194.9 -6.7 106 2194 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3417

2502 -0.85 -146.6 212.9 -5.9 121 2506 0.00 2.65 0.00 0.000 4 0.000 0.069 2220 972 3417

2569 -0.85 -146.6 217.6 -7.4 124 2574 0.00 2.65 0.00 0.000 6 0.000 0.059 2220 2407 3417

2890 -0.85 -146.6 240.5 -7.7 140 2891 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2407 3417

3199 -0.85 -146.6 264.6 -7.8 155 3203 0.00 2.67 0.00 0.000 4 0.000 0.071 2220 979 3418

3255 -0.85 -146.6 268.8 -7.8 157 3261 0.00 2.62 0.00 0.000 6 0.000 0.061 2220 2398 3417

3570 -0.85 -146.6 291.1 -7.1 173 3571 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2398 3417

3879 -0.85 -146.6 313.2 -6.1 188 3880 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2398 3417

4189 -0.85 -146.6 339.0 -7.2 203 4191 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2399 3418

4498 -0.85 -146.6 360.7 -9.1 218 4499 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2399 3418

4807 -0.85 -146.6 383.4 -7.1 233 4808 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2399 3418

5117 -0.85 -146.6 408.9 -9.5 248 5118 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2399 3418

5382 end dive: BOTTOM_OBSTACLE_DETECTED

state 5382 begin apogee

5389 -0.31 0.0 430.0 8.3 261 5512 0.60 0.00 119.60 0.947 6 0.100 0.000 2341 2195 2817

5513 end apogee: CONTROL_FINISHED_OK

state 5513 begin climb

5516 0.85 146.6 434.0 0.0 267 5641 1.25 2.80 117.85 0.929 4 0.093 0.078 2592 3615 2218

5856 0.85 146.6 416.8 8.3 282 5860 0.00 2.65 0.00 0.000 6 0.000 0.064 2592 2205 2218

6172 0.87 167.8 395.3 5.4 297 6196 0.00 2.78 18.23 0.854 4 0.000 0.071 2592 786 2131

6248 0.93 224.9 392.6 4.4 300 6300 0.00 2.62 46.00 0.893 6 0.000 0.053 2592 2204 1900

6610 0.93 224.9 367.5 7.4 318 6614 0.00 2.67 0.00 0.000 4 0.000 0.067 2592 782 1898

6665 0.93 224.9 362.3 9.3 320 6672 0.00 2.60 0.00 0.000 6 0.000 0.052 2592 2202 1897

6981 0.93 224.9 340.9 7.5 336 6985 0.00 2.70 0.00 0.000 4 0.000 0.070 2592 776 1897

7021 0.94 237.4 338.8 5.7 338 7042 0.12 2.62 11.45 0.795 6 0.074 0.053 2620 2200 1849

7351 0.94 237.4 314.0 6.8 354 7352 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2200 1848

7660 0.94 237.4 292.4 7.5 369 7665 0.00 2.67 0.00 0.000 4 0.000 0.070 2620 774 1848

7711 0.94 237.4 287.7 8.7 371 7716 0.00 2.62 0.00 0.000 6 0.000 0.052 2620 2206 1847

8027 0.94 237.4 263.3 6.8 386 8028 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2205 1847

8336 0.94 237.4 242.2 7.2 401 8337 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2206 1847

8646 0.94 237.4 214.0 9.7 416 8651 0.00 2.67 0.00 0.000 4 0.000 0.069 2620 783 1847

8713 0.94 237.4 207.0 11.6 419 8717 0.00 2.60 0.00 0.000 6 0.000 0.052 2620 2204 1847

9034 0.94 237.4 181.1 7.5 435 9035 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2205 1847

9344 0.94 237.4 154.0 9.2 450 9348 0.00 2.67 0.00 0.000 4 0.000 0.067 2621 778 1846

9438 0.94 237.4 144.9 9.7 454 9442 0.00 2.60 0.00 0.000 6 0.000 0.051 2620 2204 1845

9754 0.94 237.4 116.0 8.8 469 9758 0.00 2.67 0.00 0.000 4 0.000 0.067 2620 778 1846

9804 0.94 237.4 111.3 9.1 471 9809 0.00 2.58 0.00 0.000 6 0.000 0.051 2620 2203 1846

10120 0.94 237.4 84.6 8.2 486 10121 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2202 1846

10429 0.94 237.4 60.4 7.1 501 10433 0.00 2.67 0.00 0.000 4 0.000 0.067 2620 774 1845

10492 0.94 237.4 56.2 6.9 504 10497 0.00 2.60 0.00 0.000 6 0.000 0.049 2620 2204 1846

10818 0.94 237.4 30.2 8.2 520 10820 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2204 1846

11128 0.94 237.4 4.9 7.8 535 11132 0.00 2.65 0.00 0.000 4 0.000 0.066 2621 779 1846

11158 end climb: SURFACE_DEPTH_REACHED

state 11158 begin surface coast

11171 end surface coast: CONTROL_FINISHED_OK

state 11172 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	415	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	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	-2087180.4	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	000108,6149.284,-51.758,38,1.6,38,-5.0	TGT_NAME	ESEC_SE
_CALLS	3	TGT_LATLONG	6128.000,-342.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.202,-0.090
_SM_DEPTHo	1.34	KALMAN_X	109567.5,-3587.3,-866.2,330188.0,76350.7
_SM_ANGLEo	-59.4	KALMAN_Y	54287.1,-2872.2,-674.1,-29543.7,60742.0
GPS2	001357,6149.597,-51.006,15,1.6,15,-5.0	MHEAD_RNG_PITCHd_Wd	260.2,156468,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.027375	ALTIM_BOTTOM_PING	350.9,88.8
SM_CCo	11198,37.75,0.604,2,0,1594,300.00	_24V_AH	23.6,64.400
SM_GC	1.33,0.00,0.00,37.75,0.000,0.000,0.604,65,2403,1594,-10.79,0.08,300.00	_10V_AH	10.2,34.726
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	25383,537
TT8_MAMPS	0.02301	CFSIZE	260165632,235802624
HUMID	2111	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
TCM_TEMP	19.30	GPS	030208,032351,6152.833,-46.447,36,2.4,55,-5.0
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	102.21	SBE_CT	391	24	221.61
Roll_motor	80	78	148.40	SBE_O2	369	19	165.50
VBD_pump_during_apogee	313	947	6999.90	WL_BB2F	410	105	1018.43
VBD_pump_during_surface	37	603	537.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	100	103	244.44	nil	0	0	0.00
Iridium_during_connect	118	160	447.61	nil	0	0	0.00
Iridium_during_xfer	303	223	1596.58
Transponder_ping	4	420	42.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.90
TT8	990	19	199.96
LPSleep	8645	2	193.13
TT8_Active	453	19	91.58
TT8_Sampling	1194	39	484.79
TT8_CF8	742	45	346.82
TT8_Kalman	33	81	27.84
Analog_circuits	1056	12	129.26
GPS_charging	0	0	0.00
Compass	1170	8	95.47
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	91	0.00	0.00	-65.80	0.000	2	0.000	0.000	67	2405	3018
95	-0.85	-146.6	3.5	-3.5	4	124	12.20	2.70	-9.30	0.000	4	0.170	0.076	2220	973	3416
203	-0.85	-146.6	17.7	-9.7	9	208	0.00	2.65	0.00	0.000	6	0.000	0.055	2221	2401	3417
526	-0.85	-146.6	46.6	-7.1	25	527	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3417
836	-0.85	-146.6	77.5	-13.0	40	840	0.00	2.67	0.00	0.000	4	0.000	0.067	2220	976	3417
875	-0.85	-146.6	81.1	-6.7	42	880	0.00	2.62	0.00	0.000	6	0.000	0.059	2220	2400	3417
1203	-0.85	-146.6	105.3	-9.1	58	1204	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2400	3417
1512	-0.85	-146.6	137.1	-9.2	73	1513	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3417
1820	-0.85	-146.6	166.3	-9.5	88	1825	0.00	2.65	0.00	0.000	4	0.000	0.068	2220	980	3417
1877	-0.85	-146.6	170.9	-8.3	90	1883	0.00	2.60	0.00	0.000	6	0.000	0.058	2220	2400	3417
2192	-0.85	-146.6	194.9	-6.7	106	2194	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3417
2502	-0.85	-146.6	212.9	-5.9	121	2506	0.00	2.65	0.00	0.000	4	0.000	0.069	2220	972	3417
2569	-0.85	-146.6	217.6	-7.4	124	2574	0.00	2.65	0.00	0.000	6	0.000	0.059	2220	2407	3417
2890	-0.85	-146.6	240.5	-7.7	140	2891	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2407	3417
3199	-0.85	-146.6	264.6	-7.8	155	3203	0.00	2.67	0.00	0.000	4	0.000	0.071	2220	979	3418
3255	-0.85	-146.6	268.8	-7.8	157	3261	0.00	2.62	0.00	0.000	6	0.000	0.061	2220	2398	3417
3570	-0.85	-146.6	291.1	-7.1	173	3571	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2398	3417
3879	-0.85	-146.6	313.2	-6.1	188	3880	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2398	3417
4189	-0.85	-146.6	339.0	-7.2	203	4191	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2399	3418
4498	-0.85	-146.6	360.7	-9.1	218	4499	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2399	3418
4807	-0.85	-146.6	383.4	-7.1	233	4808	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2399	3418
5117	-0.85	-146.6	408.9	-9.5	248	5118	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2399	3418
5382	end dive: BOTTOM_OBSTACLE_DETECTED
state	5382	begin apogee
5389	-0.31	0.0	430.0	8.3	261	5512	0.60	0.00	119.60	0.947	6	0.100	0.000	2341	2195	2817
5513	end apogee: CONTROL_FINISHED_OK
state	5513	begin climb
5516	0.85	146.6	434.0	0.0	267	5641	1.25	2.80	117.85	0.929	4	0.093	0.078	2592	3615	2218
5856	0.85	146.6	416.8	8.3	282	5860	0.00	2.65	0.00	0.000	6	0.000	0.064	2592	2205	2218
6172	0.87	167.8	395.3	5.4	297	6196	0.00	2.78	18.23	0.854	4	0.000	0.071	2592	786	2131
6248	0.93	224.9	392.6	4.4	300	6300	0.00	2.62	46.00	0.893	6	0.000	0.053	2592	2204	1900
6610	0.93	224.9	367.5	7.4	318	6614	0.00	2.67	0.00	0.000	4	0.000	0.067	2592	782	1898
6665	0.93	224.9	362.3	9.3	320	6672	0.00	2.60	0.00	0.000	6	0.000	0.052	2592	2202	1897
6981	0.93	224.9	340.9	7.5	336	6985	0.00	2.70	0.00	0.000	4	0.000	0.070	2592	776	1897
7021	0.94	237.4	338.8	5.7	338	7042	0.12	2.62	11.45	0.795	6	0.074	0.053	2620	2200	1849
7351	0.94	237.4	314.0	6.8	354	7352	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2200	1848
7660	0.94	237.4	292.4	7.5	369	7665	0.00	2.67	0.00	0.000	4	0.000	0.070	2620	774	1848
7711	0.94	237.4	287.7	8.7	371	7716	0.00	2.62	0.00	0.000	6	0.000	0.052	2620	2206	1847
8027	0.94	237.4	263.3	6.8	386	8028	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2205	1847
8336	0.94	237.4	242.2	7.2	401	8337	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2206	1847
8646	0.94	237.4	214.0	9.7	416	8651	0.00	2.67	0.00	0.000	4	0.000	0.069	2620	783	1847
8713	0.94	237.4	207.0	11.6	419	8717	0.00	2.60	0.00	0.000	6	0.000	0.052	2620	2204	1847
9034	0.94	237.4	181.1	7.5	435	9035	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2205	1847
9344	0.94	237.4	154.0	9.2	450	9348	0.00	2.67	0.00	0.000	4	0.000	0.067	2621	778	1846
9438	0.94	237.4	144.9	9.7	454	9442	0.00	2.60	0.00	0.000	6	0.000	0.051	2620	2204	1845
9754	0.94	237.4	116.0	8.8	469	9758	0.00	2.67	0.00	0.000	4	0.000	0.067	2620	778	1846
9804	0.94	237.4	111.3	9.1	471	9809	0.00	2.58	0.00	0.000	6	0.000	0.051	2620	2203	1846
10120	0.94	237.4	84.6	8.2	486	10121	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2202	1846
10429	0.94	237.4	60.4	7.1	501	10433	0.00	2.67	0.00	0.000	4	0.000	0.067	2620	774	1845
10492	0.94	237.4	56.2	6.9	504	10497	0.00	2.60	0.00	0.000	6	0.000	0.049	2620	2204	1846
10818	0.94	237.4	30.2	8.2	520	10820	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2204	1846
11128	0.94	237.4	4.9	7.8	535	11132	0.00	2.65	0.00	0.000	4	0.000	0.066	2621	779	1846
11158	end climb: SURFACE_DEPTH_REACHED
state	11158	begin surface coast
11171	end surface coast: CONTROL_FINISHED_OK
state	11172	begin surface