Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 416 * 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 416 HEADING 315 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 -2087195.9 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 2 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 -2087195.9

CAPUPLOAD 0 HEADING 315 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 2 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 416 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 032351,6152.833,-46.447,36,2.4,55,-5.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6200.626,-49.722

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.202,-0.090

_SM_DEPTHo 1.33 KALMAN_X 109567.5,-3587.3,-866.2,330188.0,76350.7

_SM_ANGLEo -62.9 KALMAN_Y 54287.1,-2872.2,-674.1,-29543.7,60742.0

GPS2 032927,6152.990,-46.139,12,1.6,12,-5.0 MHEAD_RNG_PITCHd_Wd 320.0,20000,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027479 ALTIM_BOTTOM_PING 425.3,48.1

SM_CCo 11875,0.00,0.000,0,0,1466,331.40 _24V_AH 23.5,64.517

SM_GC 1.25,11.50,0.00,0.00,0.058,0.000,0.000,73,2406,1466,-10.68,0.17,331.40 _10V_AH 10.2,34.787

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28546,569

TT8_MAMPS 0.02301 CFSIZE 260165632,235749376

HUMID 2118 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

TCM_TEMP 16.50 GPS 030208,064907,6158.217,-39.775,41,1.4,52,-4.9

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 103.26 SBE_CT 414 24 233.88

Roll_motor 122 79 229.73 SBE_O2 387 19 173.03

VBD_pump_during_apogee 389 969 8865.99 WL_BB2F 423 105 1044.21

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.00 nil 0 0 0.00

Iridium_during_connect 43 160 162.21 nil 0 0 0.00

Iridium_during_xfer 143 223 752.66

Transponder_ping 4 420 44.41

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.59

TT8 1084 19 219.08

LPSleep 8832 2 197.31

TT8_Active 483 19 97.64

TT8_Sampling 1364 39 554.08

TT8_CF8 449 45 210.15

TT8_Kalman 0 81 0.00

Analog_circuits 1191 12 145.80

GPS_charging 0 0 0.00

Compass 1334 8 108.86

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

28 -0.85 -146.6 0.0 0.0 0 87 0.00 0.00 -56.30 0.000 2 0.000 0.000 64 2403 2995

90 -0.85 -146.6 3.4 -3.9 3 120 12.18 2.75 -10.55 0.000 4 0.172 0.080 2219 976 3417

373 -0.85 -146.6 29.2 -8.3 15 379 0.00 2.60 0.00 0.000 6 0.000 0.056 2220 2403 3418

690 -0.85 -146.6 57.3 -10.3 31 694 0.00 2.67 0.00 0.000 4 0.000 0.067 2220 972 3418

745 -0.85 -146.6 62.5 -9.3 33 752 0.00 2.60 0.00 0.000 6 0.000 0.057 2220 2397 3418

1062 -0.85 -146.6 93.6 -9.2 49 1063 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2397 3418

1370 -0.85 -146.6 119.4 -7.7 64 1374 0.00 2.65 0.00 0.000 4 0.000 0.067 2220 979 3418

1425 -0.85 -146.6 124.6 -9.6 66 1431 0.00 2.60 0.00 0.000 6 0.000 0.058 2220 2405 3418

1741 -0.85 -146.6 153.6 -8.7 82 1746 0.00 2.67 0.00 0.000 4 0.000 0.068 2220 974 3419

1859 -0.85 -146.6 164.4 -9.3 87 1863 0.00 2.62 0.00 0.000 6 0.000 0.058 2220 2400 3419

2175 -0.85 -146.6 191.3 -8.1 102 2176 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3420

2484 -0.85 -146.6 217.3 -8.8 117 2488 0.00 2.67 0.00 0.000 4 0.000 0.071 2220 976 3420

2529 -0.85 -146.6 221.4 -9.1 119 2533 0.00 2.62 0.00 0.000 6 0.000 0.059 2220 2400 3419

2850 -0.85 -146.6 249.2 -8.5 135 2851 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3419

3159 -0.85 -146.6 275.6 -8.7 150 3164 0.00 2.67 0.00 0.000 4 0.000 0.071 2220 974 3420

3204 -0.85 -146.6 279.7 -9.4 152 3208 0.00 2.62 0.00 0.000 6 0.000 0.060 2220 2405 3420

3525 -0.85 -146.6 309.5 -9.8 168 3526 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2405 3420

3834 -0.85 -146.6 334.6 -7.1 183 3835 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2406 3420

4143 -0.85 -146.6 357.1 -8.0 198 4147 0.00 2.67 0.00 0.000 4 0.000 0.071 2220 976 3420

4176 -0.85 -146.6 360.1 -9.9 199 4182 0.00 2.62 0.00 0.000 6 0.000 0.058 2220 2400 3420

4492 -0.85 -146.6 381.6 -7.3 215 4496 0.00 2.67 0.00 0.000 4 0.000 0.074 2220 980 3420

4586 -0.85 -146.6 385.2 -4.4 219 4591 0.00 2.62 0.00 0.000 6 0.000 0.061 2220 2399 3420

4902 -0.85 -146.6 405.4 -7.6 234 4904 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3420

5212 -0.85 -146.6 424.0 -6.9 249 5217 0.00 2.67 0.00 0.000 4 0.000 0.073 2220 979 3420

5304 -0.85 -146.6 429.6 -5.7 253 5308 0.00 2.62 0.00 0.000 6 0.000 0.061 2220 2400 3420

5625 -0.85 -146.6 452.8 -8.3 269 5627 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3420

5767 end dive: BOTTOM_OBSTACLE_DETECTED

state 5767 begin apogee

5774 -0.31 0.0 464.2 7.6 276 5898 0.60 0.00 120.60 0.969 6 0.104 0.000 2341 2197 2817

5898 end apogee: CONTROL_FINISHED_OK

state 5898 begin climb

5902 0.85 146.6 468.7 0.0 282 6031 1.17 2.78 118.47 0.957 4 0.071 0.071 2591 786 2218

6082 0.89 185.5 466.9 4.9 291 6121 0.00 2.62 32.45 0.915 6 0.000 0.054 2591 2199 2059

6450 0.89 185.5 445.0 7.1 309 6454 0.00 2.70 0.00 0.000 4 0.000 0.073 2591 784 2058

6517 0.91 206.5 440.7 5.4 312 6542 0.00 2.62 17.90 0.880 6 0.000 0.054 2591 2203 1975

6864 0.96 254.6 422.4 4.7 329 6906 0.12 0.00 39.78 0.920 6 0.061 0.000 2622 2203 1778

7214 0.96 254.6 394.6 7.4 346 7219 0.00 2.67 0.00 0.000 4 0.000 0.072 2622 788 1776

7270 0.96 254.6 389.4 9.6 348 7276 0.00 2.60 0.00 0.000 6 0.000 0.054 2622 2200 1775

7586 1.05 330.1 369.0 3.9 364 7652 0.00 2.75 59.95 0.898 4 0.000 0.074 2624 788 1470

7687 1.05 330.1 363.9 7.4 369 7691 0.00 2.62 0.00 0.000 6 0.000 0.053 2622 2200 1469

8013 1.05 330.1 335.8 7.8 385 8017 0.00 2.70 0.00 0.000 4 0.000 0.075 2623 787 1469

8075 1.05 330.1 328.8 12.1 388 8080 0.00 2.60 0.00 0.000 6 0.000 0.053 2623 2200 1469

8402 1.05 330.1 297.4 9.7 404 8406 0.00 2.70 0.00 0.000 4 0.000 0.073 2623 782 1469

8457 1.05 330.1 291.6 10.7 406 8463 0.00 2.60 0.00 0.000 6 0.000 0.053 2622 2200 1468

8775 1.05 330.1 262.5 9.2 422 8779 0.00 2.67 0.00 0.000 4 0.000 0.073 2623 786 1468

8830 1.05 330.1 256.9 10.1 424 8836 0.00 2.60 0.00 0.000 6 0.000 0.053 2623 2202 1467

9145 1.05 330.1 228.1 8.8 440 9149 0.00 2.67 0.00 0.000 4 0.000 0.071 2623 782 1468

9185 1.05 330.1 224.6 9.3 442 9189 0.00 2.60 0.00 0.000 6 0.000 0.052 2623 2200 1468

9511 1.05 330.1 197.1 8.3 458 9516 0.00 2.67 0.00 0.000 4 0.000 0.072 2623 786 1468

9555 1.05 330.1 193.2 9.1 460 9560 0.00 2.60 0.00 0.000 6 0.000 0.052 2623 2204 1467

9878 1.05 330.1 165.8 8.2 476 9882 0.00 2.67 0.00 0.000 4 0.000 0.071 2622 785 1468

9927 1.05 330.1 161.4 9.4 478 9932 0.00 2.58 0.00 0.000 6 0.000 0.052 2622 2199 1468

10243 1.05 330.1 131.4 9.8 493 10248 0.00 2.67 0.00 0.000 4 0.000 0.070 2622 779 1468

10289 1.05 330.1 127.1 10.0 495 10293 0.00 2.60 0.00 0.000 6 0.000 0.051 2623 2206 1467

10609 1.05 330.1 101.4 7.7 511 10614 0.00 2.67 0.00 0.000 4 0.000 0.071 2622 786 1468

10650 1.05 330.1 98.0 9.5 513 10654 0.00 2.58 0.00 0.000 6 0.000 0.051 2622 2200 1468

10977 1.05 330.1 71.4 8.3 529 10982 0.00 2.67 0.00 0.000 4 0.000 0.070 2623 781 1468

11017 1.05 330.1 67.9 8.5 531 11022 0.00 2.60 0.00 0.000 6 0.000 0.051 2622 2207 1468

11345 1.05 330.1 38.1 9.3 547 11349 0.00 2.67 0.00 0.000 4 0.000 0.071 2624 777 1468

11389 1.05 330.1 33.4 10.4 549 11394 0.00 2.60 0.00 0.000 6 0.000 0.053 2623 2203 1468

11711 1.05 330.1 6.3 8.4 565 11712 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2203 1468

11771 end climb: SURFACE_DEPTH_REACHED

state 11772 begin surface coast

11792 end surface coast: CONTROL_FINISHED_OK

state 11792 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	416	HEADING	315	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	-2087195.9	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	2	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	032351,6152.833,-46.447,36,2.4,55,-5.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6200.626,-49.722
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.202,-0.090
_SM_DEPTHo	1.33	KALMAN_X	109567.5,-3587.3,-866.2,330188.0,76350.7
_SM_ANGLEo	-62.9	KALMAN_Y	54287.1,-2872.2,-674.1,-29543.7,60742.0
GPS2	032927,6152.990,-46.139,12,1.6,12,-5.0	MHEAD_RNG_PITCHd_Wd	320.0,20000,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027479	ALTIM_BOTTOM_PING	425.3,48.1
SM_CCo	11875,0.00,0.000,0,0,1466,331.40	_24V_AH	23.5,64.517
SM_GC	1.25,11.50,0.00,0.00,0.058,0.000,0.000,73,2406,1466,-10.68,0.17,331.40	_10V_AH	10.2,34.787
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28546,569
TT8_MAMPS	0.02301	CFSIZE	260165632,235749376
HUMID	2118	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
TCM_TEMP	16.50	GPS	030208,064907,6158.217,-39.775,41,1.4,52,-4.9
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	103.26	SBE_CT	414	24	233.88
Roll_motor	122	79	229.73	SBE_O2	387	19	173.03
VBD_pump_during_apogee	389	969	8865.99	WL_BB2F	423	105	1044.21
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.00	nil	0	0	0.00
Iridium_during_connect	43	160	162.21	nil	0	0	0.00
Iridium_during_xfer	143	223	752.66
Transponder_ping	4	420	44.41
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.59
TT8	1084	19	219.08
LPSleep	8832	2	197.31
TT8_Active	483	19	97.64
TT8_Sampling	1364	39	554.08
TT8_CF8	449	45	210.15
TT8_Kalman	0	81	0.00
Analog_circuits	1191	12	145.80
GPS_charging	0	0	0.00
Compass	1334	8	108.86
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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
28	-0.85	-146.6	0.0	0.0	0	87	0.00	0.00	-56.30	0.000	2	0.000	0.000	64	2403	2995
90	-0.85	-146.6	3.4	-3.9	3	120	12.18	2.75	-10.55	0.000	4	0.172	0.080	2219	976	3417
373	-0.85	-146.6	29.2	-8.3	15	379	0.00	2.60	0.00	0.000	6	0.000	0.056	2220	2403	3418
690	-0.85	-146.6	57.3	-10.3	31	694	0.00	2.67	0.00	0.000	4	0.000	0.067	2220	972	3418
745	-0.85	-146.6	62.5	-9.3	33	752	0.00	2.60	0.00	0.000	6	0.000	0.057	2220	2397	3418
1062	-0.85	-146.6	93.6	-9.2	49	1063	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2397	3418
1370	-0.85	-146.6	119.4	-7.7	64	1374	0.00	2.65	0.00	0.000	4	0.000	0.067	2220	979	3418
1425	-0.85	-146.6	124.6	-9.6	66	1431	0.00	2.60	0.00	0.000	6	0.000	0.058	2220	2405	3418
1741	-0.85	-146.6	153.6	-8.7	82	1746	0.00	2.67	0.00	0.000	4	0.000	0.068	2220	974	3419
1859	-0.85	-146.6	164.4	-9.3	87	1863	0.00	2.62	0.00	0.000	6	0.000	0.058	2220	2400	3419
2175	-0.85	-146.6	191.3	-8.1	102	2176	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3420
2484	-0.85	-146.6	217.3	-8.8	117	2488	0.00	2.67	0.00	0.000	4	0.000	0.071	2220	976	3420
2529	-0.85	-146.6	221.4	-9.1	119	2533	0.00	2.62	0.00	0.000	6	0.000	0.059	2220	2400	3419
2850	-0.85	-146.6	249.2	-8.5	135	2851	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3419
3159	-0.85	-146.6	275.6	-8.7	150	3164	0.00	2.67	0.00	0.000	4	0.000	0.071	2220	974	3420
3204	-0.85	-146.6	279.7	-9.4	152	3208	0.00	2.62	0.00	0.000	6	0.000	0.060	2220	2405	3420
3525	-0.85	-146.6	309.5	-9.8	168	3526	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2405	3420
3834	-0.85	-146.6	334.6	-7.1	183	3835	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2406	3420
4143	-0.85	-146.6	357.1	-8.0	198	4147	0.00	2.67	0.00	0.000	4	0.000	0.071	2220	976	3420
4176	-0.85	-146.6	360.1	-9.9	199	4182	0.00	2.62	0.00	0.000	6	0.000	0.058	2220	2400	3420
4492	-0.85	-146.6	381.6	-7.3	215	4496	0.00	2.67	0.00	0.000	4	0.000	0.074	2220	980	3420
4586	-0.85	-146.6	385.2	-4.4	219	4591	0.00	2.62	0.00	0.000	6	0.000	0.061	2220	2399	3420
4902	-0.85	-146.6	405.4	-7.6	234	4904	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3420
5212	-0.85	-146.6	424.0	-6.9	249	5217	0.00	2.67	0.00	0.000	4	0.000	0.073	2220	979	3420
5304	-0.85	-146.6	429.6	-5.7	253	5308	0.00	2.62	0.00	0.000	6	0.000	0.061	2220	2400	3420
5625	-0.85	-146.6	452.8	-8.3	269	5627	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3420
5767	end dive: BOTTOM_OBSTACLE_DETECTED
state	5767	begin apogee
5774	-0.31	0.0	464.2	7.6	276	5898	0.60	0.00	120.60	0.969	6	0.104	0.000	2341	2197	2817
5898	end apogee: CONTROL_FINISHED_OK
state	5898	begin climb
5902	0.85	146.6	468.7	0.0	282	6031	1.17	2.78	118.47	0.957	4	0.071	0.071	2591	786	2218
6082	0.89	185.5	466.9	4.9	291	6121	0.00	2.62	32.45	0.915	6	0.000	0.054	2591	2199	2059
6450	0.89	185.5	445.0	7.1	309	6454	0.00	2.70	0.00	0.000	4	0.000	0.073	2591	784	2058
6517	0.91	206.5	440.7	5.4	312	6542	0.00	2.62	17.90	0.880	6	0.000	0.054	2591	2203	1975
6864	0.96	254.6	422.4	4.7	329	6906	0.12	0.00	39.78	0.920	6	0.061	0.000	2622	2203	1778
7214	0.96	254.6	394.6	7.4	346	7219	0.00	2.67	0.00	0.000	4	0.000	0.072	2622	788	1776
7270	0.96	254.6	389.4	9.6	348	7276	0.00	2.60	0.00	0.000	6	0.000	0.054	2622	2200	1775
7586	1.05	330.1	369.0	3.9	364	7652	0.00	2.75	59.95	0.898	4	0.000	0.074	2624	788	1470
7687	1.05	330.1	363.9	7.4	369	7691	0.00	2.62	0.00	0.000	6	0.000	0.053	2622	2200	1469
8013	1.05	330.1	335.8	7.8	385	8017	0.00	2.70	0.00	0.000	4	0.000	0.075	2623	787	1469
8075	1.05	330.1	328.8	12.1	388	8080	0.00	2.60	0.00	0.000	6	0.000	0.053	2623	2200	1469
8402	1.05	330.1	297.4	9.7	404	8406	0.00	2.70	0.00	0.000	4	0.000	0.073	2623	782	1469
8457	1.05	330.1	291.6	10.7	406	8463	0.00	2.60	0.00	0.000	6	0.000	0.053	2622	2200	1468
8775	1.05	330.1	262.5	9.2	422	8779	0.00	2.67	0.00	0.000	4	0.000	0.073	2623	786	1468
8830	1.05	330.1	256.9	10.1	424	8836	0.00	2.60	0.00	0.000	6	0.000	0.053	2623	2202	1467
9145	1.05	330.1	228.1	8.8	440	9149	0.00	2.67	0.00	0.000	4	0.000	0.071	2623	782	1468
9185	1.05	330.1	224.6	9.3	442	9189	0.00	2.60	0.00	0.000	6	0.000	0.052	2623	2200	1468
9511	1.05	330.1	197.1	8.3	458	9516	0.00	2.67	0.00	0.000	4	0.000	0.072	2623	786	1468
9555	1.05	330.1	193.2	9.1	460	9560	0.00	2.60	0.00	0.000	6	0.000	0.052	2623	2204	1467
9878	1.05	330.1	165.8	8.2	476	9882	0.00	2.67	0.00	0.000	4	0.000	0.071	2622	785	1468
9927	1.05	330.1	161.4	9.4	478	9932	0.00	2.58	0.00	0.000	6	0.000	0.052	2622	2199	1468
10243	1.05	330.1	131.4	9.8	493	10248	0.00	2.67	0.00	0.000	4	0.000	0.070	2622	779	1468
10289	1.05	330.1	127.1	10.0	495	10293	0.00	2.60	0.00	0.000	6	0.000	0.051	2623	2206	1467
10609	1.05	330.1	101.4	7.7	511	10614	0.00	2.67	0.00	0.000	4	0.000	0.071	2622	786	1468
10650	1.05	330.1	98.0	9.5	513	10654	0.00	2.58	0.00	0.000	6	0.000	0.051	2622	2200	1468
10977	1.05	330.1	71.4	8.3	529	10982	0.00	2.67	0.00	0.000	4	0.000	0.070	2623	781	1468
11017	1.05	330.1	67.9	8.5	531	11022	0.00	2.60	0.00	0.000	6	0.000	0.051	2622	2207	1468
11345	1.05	330.1	38.1	9.3	547	11349	0.00	2.67	0.00	0.000	4	0.000	0.071	2624	777	1468
11389	1.05	330.1	33.4	10.4	549	11394	0.00	2.60	0.00	0.000	6	0.000	0.053	2623	2203	1468
11711	1.05	330.1	6.3	8.4	565	11712	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2203	1468
11771	end climb: SURFACE_DEPTH_REACHED
state	11772	begin surface coast
11792	end surface coast: CONTROL_FINISHED_OK
state	11792	begin surface