Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 52 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING 270 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 52 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 INT_PRESSURE_YINT 20

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -2108541 VBD_BLEED_AD_RATE 4 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -2108541

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 19 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 52 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 173656,6202.499,-908.861,33,3.4,52,-9.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6202.451,-931.853

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.44 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -63.2 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 174120,6202.451,-908.819,14,1.7,14,-9.5 MHEAD_RNG_PITCHd_Wd 279.5,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.006007 ALTIM_BOTTOM_PING 426.4,64.6

SM_CCo 10471,0.00,0.000,0,0,1408,345.63 _24V_AH 23.7,13.764

SM_GC 1.50,12.25,0.00,0.00,0.094,0.000,0.000,70,2607,1408,-10.46,0.17,345.63 _10V_AH 10.1,5.850

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 25411,499

TT8_MAMPS 0.023777 CAP_FILE_SIZE 72075,0

HUMID 1704 CFSIZE 260165632,255512576

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 130609,203744,6201.991,-910.988,39,2.2,58,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 184 117.74 SBE_CT 360 24 205.26

Roll_motor 54 72 94.46 SBE_O2 345 19 155.67

VBD_pump_during_apogee 429 865 8808.81 WL_BB2F 315 105 785.07

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 18 103 44.05 nil 0 0 0.00

Iridium_during_connect 31 160 118.61 nil 0 0 0.00

Iridium_during_xfer 116 223 615.18

Transponder_ping 3 420 32.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.46

TT8 911 19 182.35

LPSleep 7943 2 175.70

TT8_Active 499 19 99.90

TT8_Sampling 1062 39 426.95

TT8_CF8 325 45 150.53

TT8_Kalman 0 81 0.00

Analog_circuits 1043 12 126.49

GPS_charging 0 0 0.00

Compass 1038 8 83.93

RAFOS 0 0 0.00

Transponder 23 30 7.18

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.03 -146.6 0.0 0.0 0 82 0.00 0.00 -64.62 0.000 6 0.000 0.000 70 2596 3416

85 -1.03 -146.6 6.4 -8.1 4 107 11.95 2.40 0.00 0.000 4 0.185 0.062 2131 3866 3417

337 -1.03 -146.6 45.6 -8.5 15 341 0.00 2.20 0.00 0.000 6 0.000 0.028 2131 2577 3418

664 -1.03 -146.6 88.2 -13.9 31 666 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2575 3418

974 -1.03 -146.6 136.1 -16.2 46 978 0.00 2.40 0.00 0.000 4 0.000 0.064 2131 3869 3419

1024 -1.03 -146.6 144.8 -16.9 48 1028 0.00 2.17 0.00 0.000 6 0.000 0.029 2131 2589 3418

1339 -1.03 -146.6 194.1 -15.0 63 1341 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2587 3419

1649 -1.03 -146.6 238.1 -14.2 78 1650 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2585 3419

1960 -1.03 -146.6 276.2 -11.3 93 1962 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2586 3419

2267 -1.03 -146.6 304.7 -8.4 108 2268 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2586 3419

2577 -1.03 -146.6 326.7 -6.7 123 2581 0.00 2.45 0.00 0.000 4 0.000 0.043 2131 1202 3419

2627 -1.08 -146.6 329.9 -6.3 125 2631 0.00 2.47 0.00 0.000 6 0.000 0.038 2131 2607 3419

2943 -1.08 -146.6 349.1 -6.3 140 2944 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2607 3419

3252 -1.08 -146.6 371.0 -7.2 155 3256 0.00 2.47 0.00 0.000 4 0.000 0.042 2131 1209 3418

3297 -1.14 -146.6 374.2 -6.4 157 3302 0.00 2.45 0.00 0.000 6 0.000 0.039 2131 2600 3418

3619 -1.14 -146.6 395.9 -7.2 173 3620 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2600 3418

3928 -1.14 -146.6 419.1 -7.0 188 3929 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2600 3418

4237 -1.14 -146.6 441.9 -7.6 203 4238 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2600 3418

4546 -1.14 -146.6 464.3 -7.6 218 4550 0.00 2.35 0.00 0.000 4 0.000 0.073 2131 3858 3418

4591 -1.14 -146.6 468.6 -9.0 220 4595 0.00 2.15 0.00 0.000 6 0.000 0.031 2131 2599 3418

4771 end dive: BOTTOM_OBSTACLE_DETECTED

state 4771 begin apogee

4778 -0.31 0.0 482.5 7.5 229 4906 0.77 0.00 125.03 0.865 6 0.099 0.000 2289 2298 2817

4907 end apogee: CONTROL_FINISHED_OK

state 4907 begin climb

4910 1.03 146.6 487.0 0.0 235 5044 1.35 2.58 126.35 0.854 4 0.070 0.049 2579 908 2218

5154 0.98 173.1 481.4 6.6 246 5185 0.00 2.47 23.60 0.808 6 0.000 0.038 2578 2301 2110

5495 0.95 187.6 456.0 7.0 263 5514 0.00 0.00 13.27 0.759 6 0.000 0.000 2578 2301 2052

5824 0.95 187.6 431.4 8.1 279 5828 0.00 2.62 0.00 0.000 4 0.000 0.066 2578 3707 2050

5896 0.87 187.6 424.7 9.5 282 5901 0.15 2.45 0.00 0.000 6 0.094 0.033 2550 2306 2050

6212 0.88 201.0 401.5 7.0 297 6230 0.00 0.00 12.65 0.738 6 0.000 0.000 2550 2305 1997

6540 0.91 229.5 379.3 6.5 313 6569 0.00 0.00 26.80 0.775 6 0.000 0.000 2551 2305 1881

6870 0.98 241.1 356.0 7.1 329 6884 0.12 0.00 11.35 0.702 6 0.050 0.000 2589 2305 1834

7179 0.98 241.1 326.4 10.2 344 7180 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2305 1832

7489 0.94 241.1 294.7 10.1 359 7491 0.12 0.00 0.00 0.000 6 0.096 0.000 2565 2304 1830

7798 0.94 241.1 268.2 7.8 374 7802 0.00 2.53 0.00 0.000 4 0.000 0.049 2565 897 1830

7848 0.94 241.1 263.8 8.0 376 7852 0.00 2.47 0.00 0.000 6 0.000 0.036 2565 2305 1829

8169 0.97 266.7 241.6 6.6 392 8194 0.00 0.00 23.62 0.686 6 0.000 0.000 2565 2305 1729

8499 1.10 341.8 224.1 4.9 408 8568 0.15 0.00 66.93 0.696 6 0.047 0.000 2610 2305 1423

8867 1.10 341.8 197.2 8.0 426 8872 0.00 2.55 0.00 0.000 4 0.000 0.047 2610 891 1413

8907 1.10 341.8 193.4 9.5 428 8912 0.00 2.50 0.00 0.000 6 0.000 0.036 2610 2311 1412

9234 1.10 341.8 155.0 12.9 444 9235 0.00 0.00 0.00 0.000 6 0.000 0.000 2610 2310 1412

9544 1.10 341.8 107.7 16.5 459 9548 0.00 2.55 0.00 0.000 4 0.000 0.046 2610 897 1411

9616 1.10 341.8 95.7 16.1 462 9620 0.00 2.47 0.00 0.000 6 0.000 0.035 2610 2305 1410

9932 1.10 341.8 52.6 12.6 477 9933 0.00 0.00 0.00 0.000 6 0.000 0.000 2610 2305 1410

10241 1.10 341.8 15.9 12.0 492 10245 0.00 2.53 0.00 0.000 4 0.000 0.045 2610 895 1410

10281 1.10 341.8 11.5 12.0 494 10285 0.00 2.45 0.00 0.000 6 0.000 0.035 2610 2302 1410

10363 end climb: SURFACE_DEPTH_REACHED

state 10363 begin surface coast

10387 end surface coast: CONTROL_FINISHED_OK

state 10387 begin surface

ID	16	HEADING	270	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	52	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	INT_PRESSURE_YINT	20
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-2108541	VBD_BLEED_AD_RATE	4	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	173656,6202.499,-908.861,33,3.4,52,-9.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6202.451,-931.853
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.44	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-63.2	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	174120,6202.451,-908.819,14,1.7,14,-9.5	MHEAD_RNG_PITCHd_Wd	279.5,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.006007	ALTIM_BOTTOM_PING	426.4,64.6
SM_CCo	10471,0.00,0.000,0,0,1408,345.63	_24V_AH	23.7,13.764
SM_GC	1.50,12.25,0.00,0.00,0.094,0.000,0.000,70,2607,1408,-10.46,0.17,345.63	_10V_AH	10.1,5.850
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	25411,499
TT8_MAMPS	0.023777	CAP_FILE_SIZE	72075,0
HUMID	1704	CFSIZE	260165632,255512576
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	130609,203744,6201.991,-910.988,39,2.2,58,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	184	117.74	SBE_CT	360	24	205.26
Roll_motor	54	72	94.46	SBE_O2	345	19	155.67
VBD_pump_during_apogee	429	865	8808.81	WL_BB2F	315	105	785.07
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	18	103	44.05	nil	0	0	0.00
Iridium_during_connect	31	160	118.61	nil	0	0	0.00
Iridium_during_xfer	116	223	615.18
Transponder_ping	3	420	32.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.46
TT8	911	19	182.35
LPSleep	7943	2	175.70
TT8_Active	499	19	99.90
TT8_Sampling	1062	39	426.95
TT8_CF8	325	45	150.53
TT8_Kalman	0	81	0.00
Analog_circuits	1043	12	126.49
GPS_charging	0	0	0.00
Compass	1038	8	83.93
RAFOS	0	0	0.00
Transponder	23	30	7.18

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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.03	-146.6	0.0	0.0	0	82	0.00	0.00	-64.62	0.000	6	0.000	0.000	70	2596	3416
85	-1.03	-146.6	6.4	-8.1	4	107	11.95	2.40	0.00	0.000	4	0.185	0.062	2131	3866	3417
337	-1.03	-146.6	45.6	-8.5	15	341	0.00	2.20	0.00	0.000	6	0.000	0.028	2131	2577	3418
664	-1.03	-146.6	88.2	-13.9	31	666	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2575	3418
974	-1.03	-146.6	136.1	-16.2	46	978	0.00	2.40	0.00	0.000	4	0.000	0.064	2131	3869	3419
1024	-1.03	-146.6	144.8	-16.9	48	1028	0.00	2.17	0.00	0.000	6	0.000	0.029	2131	2589	3418
1339	-1.03	-146.6	194.1	-15.0	63	1341	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2587	3419
1649	-1.03	-146.6	238.1	-14.2	78	1650	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2585	3419
1960	-1.03	-146.6	276.2	-11.3	93	1962	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2586	3419
2267	-1.03	-146.6	304.7	-8.4	108	2268	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2586	3419
2577	-1.03	-146.6	326.7	-6.7	123	2581	0.00	2.45	0.00	0.000	4	0.000	0.043	2131	1202	3419
2627	-1.08	-146.6	329.9	-6.3	125	2631	0.00	2.47	0.00	0.000	6	0.000	0.038	2131	2607	3419
2943	-1.08	-146.6	349.1	-6.3	140	2944	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2607	3419
3252	-1.08	-146.6	371.0	-7.2	155	3256	0.00	2.47	0.00	0.000	4	0.000	0.042	2131	1209	3418
3297	-1.14	-146.6	374.2	-6.4	157	3302	0.00	2.45	0.00	0.000	6	0.000	0.039	2131	2600	3418
3619	-1.14	-146.6	395.9	-7.2	173	3620	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2600	3418
3928	-1.14	-146.6	419.1	-7.0	188	3929	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2600	3418
4237	-1.14	-146.6	441.9	-7.6	203	4238	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2600	3418
4546	-1.14	-146.6	464.3	-7.6	218	4550	0.00	2.35	0.00	0.000	4	0.000	0.073	2131	3858	3418
4591	-1.14	-146.6	468.6	-9.0	220	4595	0.00	2.15	0.00	0.000	6	0.000	0.031	2131	2599	3418
4771	end dive: BOTTOM_OBSTACLE_DETECTED
state	4771	begin apogee
4778	-0.31	0.0	482.5	7.5	229	4906	0.77	0.00	125.03	0.865	6	0.099	0.000	2289	2298	2817
4907	end apogee: CONTROL_FINISHED_OK
state	4907	begin climb
4910	1.03	146.6	487.0	0.0	235	5044	1.35	2.58	126.35	0.854	4	0.070	0.049	2579	908	2218
5154	0.98	173.1	481.4	6.6	246	5185	0.00	2.47	23.60	0.808	6	0.000	0.038	2578	2301	2110
5495	0.95	187.6	456.0	7.0	263	5514	0.00	0.00	13.27	0.759	6	0.000	0.000	2578	2301	2052
5824	0.95	187.6	431.4	8.1	279	5828	0.00	2.62	0.00	0.000	4	0.000	0.066	2578	3707	2050
5896	0.87	187.6	424.7	9.5	282	5901	0.15	2.45	0.00	0.000	6	0.094	0.033	2550	2306	2050
6212	0.88	201.0	401.5	7.0	297	6230	0.00	0.00	12.65	0.738	6	0.000	0.000	2550	2305	1997
6540	0.91	229.5	379.3	6.5	313	6569	0.00	0.00	26.80	0.775	6	0.000	0.000	2551	2305	1881
6870	0.98	241.1	356.0	7.1	329	6884	0.12	0.00	11.35	0.702	6	0.050	0.000	2589	2305	1834
7179	0.98	241.1	326.4	10.2	344	7180	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2305	1832
7489	0.94	241.1	294.7	10.1	359	7491	0.12	0.00	0.00	0.000	6	0.096	0.000	2565	2304	1830
7798	0.94	241.1	268.2	7.8	374	7802	0.00	2.53	0.00	0.000	4	0.000	0.049	2565	897	1830
7848	0.94	241.1	263.8	8.0	376	7852	0.00	2.47	0.00	0.000	6	0.000	0.036	2565	2305	1829
8169	0.97	266.7	241.6	6.6	392	8194	0.00	0.00	23.62	0.686	6	0.000	0.000	2565	2305	1729
8499	1.10	341.8	224.1	4.9	408	8568	0.15	0.00	66.93	0.696	6	0.047	0.000	2610	2305	1423
8867	1.10	341.8	197.2	8.0	426	8872	0.00	2.55	0.00	0.000	4	0.000	0.047	2610	891	1413
8907	1.10	341.8	193.4	9.5	428	8912	0.00	2.50	0.00	0.000	6	0.000	0.036	2610	2311	1412
9234	1.10	341.8	155.0	12.9	444	9235	0.00	0.00	0.00	0.000	6	0.000	0.000	2610	2310	1412
9544	1.10	341.8	107.7	16.5	459	9548	0.00	2.55	0.00	0.000	4	0.000	0.046	2610	897	1411
9616	1.10	341.8	95.7	16.1	462	9620	0.00	2.47	0.00	0.000	6	0.000	0.035	2610	2305	1410
9932	1.10	341.8	52.6	12.6	477	9933	0.00	0.00	0.00	0.000	6	0.000	0.000	2610	2305	1410
10241	1.10	341.8	15.9	12.0	492	10245	0.00	2.53	0.00	0.000	4	0.000	0.045	2610	895	1410
10281	1.10	341.8	11.5	12.0	494	10285	0.00	2.45	0.00	0.000	6	0.000	0.035	2610	2302	1410
10363	end climb: SURFACE_DEPTH_REACHED
state	10363	begin surface coast
10387	end surface coast: CONTROL_FINISHED_OK
state	10387	begin surface