Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 53 * 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 53 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -2108559.2 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 -2108559.2

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 29 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 53 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 203744,6201.991,-910.988,39,2.2,58,-9.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6201.979,-934.037

_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 -65.2 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 204201,6201.979,-911.009,12,1.3,17,-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 0.7,1.024155 ALTIM_BOTTOM_PING 450.8,43.2

SM_CCo 10766,0.00,0.000,0,0,1715,270.32 _24V_AH 23.7,13.859

SM_GC 1.77,11.98,0.00,0.00,0.090,0.000,0.000,64,2600,1715,-10.45,0.00,270.32 _10V_AH 10.1,5.904

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 25380,512

TT8_MAMPS 0.02301 CAP_FILE_SIZE 72583,0

HUMID 1731 CFSIZE 260165632,255475712

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 130609,234300,6202.688,-911.806,39,1.9,39,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 181 112.50 SBE_CT 372 24 211.81

Roll_motor 55 79 104.17 SBE_O2 349 19 157.36

VBD_pump_during_apogee 358 862 7319.24 WL_BB2F 396 105 986.58

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 44.00 nil 0 0 0.00

Iridium_during_connect 26 160 99.54 nil 0 0 0.00

Iridium_during_xfer 111 223 588.04

Transponder_ping 3 420 34.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.81

TT8 945 19 189.18

LPSleep 8192 2 181.21

TT8_Active 407 19 81.50

TT8_Sampling 1164 39 467.94

TT8_CF8 319 45 148.02

TT8_Kalman 0 81 0.00

Analog_circuits 990 12 120.05

GPS_charging 0 0 0.00

Compass 1136 8 91.80

RAFOS 0 0 0.00

Transponder 25 30 7.66

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.03 -146.6 0.0 0.0 0 78 0.00 0.00 -60.95 0.000 2 0.000 0.000 70 2607 3071

81 -1.03 -146.6 4.1 -6.2 3 107 11.82 2.40 -6.55 0.000 4 0.181 0.080 2129 3858 3417

360 -1.03 -146.6 40.5 -10.9 15 364 0.00 2.17 0.00 0.000 6 0.000 0.028 2129 2579 3418

682 -1.03 -146.6 66.9 -7.3 31 683 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2578 3418

993 -1.03 -146.6 88.2 -5.9 46 997 0.00 2.38 0.00 0.000 4 0.000 0.063 2129 3864 3418

1104 -1.03 -146.6 95.4 -6.4 51 1108 0.00 2.15 0.00 0.000 6 0.000 0.028 2129 2597 3418

1433 -1.03 -146.6 111.6 -5.1 67 1435 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2595 3418

1741 -1.03 -146.6 128.3 -5.4 82 1742 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2595 3418

2050 -1.03 -146.6 149.4 -7.2 97 2052 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2595 3418

2361 -1.03 -146.6 175.4 -9.3 112 2365 0.00 2.45 0.00 0.000 4 0.000 0.042 2129 1206 3418

2401 -1.03 -146.6 179.4 -9.4 114 2405 0.00 2.45 0.00 0.000 6 0.000 0.038 2129 2602 3418

2727 -1.03 -146.6 209.4 -9.3 130 2728 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2601 3418

3037 -1.03 -146.6 239.4 -10.0 145 3038 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2602 3418

3346 -1.03 -146.6 271.6 -10.2 160 3347 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2601 3418

3656 -1.03 -146.6 300.5 -8.6 175 3657 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2601 3418

3965 -1.03 -146.6 326.9 -8.8 190 3966 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2601 3418

4274 -1.03 -146.6 358.7 -11.2 205 4275 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2602 3418

4583 -1.03 -146.6 392.4 -11.4 220 4587 0.00 2.45 0.00 0.000 4 0.000 0.041 2129 1209 3418

4633 -1.08 -146.6 398.1 -11.5 222 4637 0.00 2.45 0.00 0.000 6 0.000 0.039 2129 2602 3418

4948 -1.08 -146.6 432.6 -11.4 237 4949 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2601 3418

5257 -1.08 -146.6 454.3 -8.1 252 5262 0.00 2.47 0.00 0.000 4 0.000 0.044 2129 1205 3418

5308 -1.14 -146.6 459.1 -10.1 254 5312 0.00 2.47 0.00 0.000 6 0.000 0.040 2129 2608 3418

5538 end dive: BOTTOM_OBSTACLE_DETECTED

state 5538 begin apogee

5545 -0.31 0.0 484.1 10.7 265 5674 0.77 0.00 125.40 0.862 6 0.094 0.000 2288 2305 2817

5675 end apogee: CONTROL_FINISHED_OK

state 5675 begin climb

5678 1.03 146.6 487.8 0.0 271 5812 1.38 2.58 126.62 0.852 4 0.075 0.047 2579 908 2218

6042 0.95 155.2 472.9 7.2 287 6056 0.00 2.47 7.68 0.686 6 0.000 0.038 2579 2301 2184

6379 0.88 155.2 448.4 8.2 304 6381 0.15 0.00 0.00 0.000 6 0.097 0.000 2551 2301 2183

6688 0.97 266.5 434.6 3.7 319 6793 0.00 2.75 98.53 0.825 4 0.000 0.065 2551 3705 1728

6862 1.01 266.5 422.9 9.7 327 6867 0.12 2.47 0.00 0.000 6 0.050 0.033 2586 2305 1725

7188 1.01 266.5 392.0 9.8 343 7192 0.00 2.58 0.00 0.000 4 0.000 0.051 2586 891 1720

7254 1.01 266.5 385.5 9.7 346 7258 0.00 2.50 0.00 0.000 6 0.000 0.037 2586 2303 1719

7576 1.01 266.5 356.3 9.4 362 7577 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2303 1719

7885 1.01 266.5 327.1 9.6 377 7886 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2303 1719

8194 1.01 266.5 294.0 11.4 392 8195 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2303 1719

8503 1.01 266.5 260.8 10.8 407 8505 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2304 1718

8812 1.01 266.5 223.8 12.5 422 8814 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2304 1719

9122 1.01 266.5 184.6 12.5 437 9126 0.00 2.53 0.00 0.000 4 0.000 0.046 2586 890 1718

9173 1.01 266.5 178.0 13.4 439 9178 0.00 2.47 0.00 0.000 6 0.000 0.035 2586 2304 1716

9495 1.01 266.5 139.4 11.4 455 9496 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2304 1717

9804 1.01 266.5 104.1 12.3 470 9808 0.00 2.53 0.00 0.000 4 0.000 0.044 2586 892 1717

9837 1.01 266.5 99.6 13.0 471 9843 0.00 2.45 0.00 0.000 6 0.000 0.035 2586 2298 1717

10154 1.01 266.5 58.6 12.2 487 10158 0.00 2.50 0.00 0.000 4 0.000 0.045 2586 895 1717

10203 1.01 266.5 51.9 12.5 489 10208 0.00 2.45 0.00 0.000 6 0.000 0.035 2586 2302 1717

10519 1.01 266.5 16.2 10.7 504 10521 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2302 1717

10661 end climb: SURFACE_DEPTH_REACHED

state 10661 begin surface coast

10683 end surface coast: CONTROL_FINISHED_OK

state 10683 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	53	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-2108559.2	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	203744,6201.991,-910.988,39,2.2,58,-9.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6201.979,-934.037
_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	-65.2	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	204201,6201.979,-911.009,12,1.3,17,-9.5	MHEAD_RNG_PITCHd_Wd	279.5,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.024155	ALTIM_BOTTOM_PING	450.8,43.2
SM_CCo	10766,0.00,0.000,0,0,1715,270.32	_24V_AH	23.7,13.859
SM_GC	1.77,11.98,0.00,0.00,0.090,0.000,0.000,64,2600,1715,-10.45,0.00,270.32	_10V_AH	10.1,5.904
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	25380,512
TT8_MAMPS	0.02301	CAP_FILE_SIZE	72583,0
HUMID	1731	CFSIZE	260165632,255475712
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	130609,234300,6202.688,-911.806,39,1.9,39,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	181	112.50	SBE_CT	372	24	211.81
Roll_motor	55	79	104.17	SBE_O2	349	19	157.36
VBD_pump_during_apogee	358	862	7319.24	WL_BB2F	396	105	986.58
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	44.00	nil	0	0	0.00
Iridium_during_connect	26	160	99.54	nil	0	0	0.00
Iridium_during_xfer	111	223	588.04
Transponder_ping	3	420	34.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.81
TT8	945	19	189.18
LPSleep	8192	2	181.21
TT8_Active	407	19	81.50
TT8_Sampling	1164	39	467.94
TT8_CF8	319	45	148.02
TT8_Kalman	0	81	0.00
Analog_circuits	990	12	120.05
GPS_charging	0	0	0.00
Compass	1136	8	91.80
RAFOS	0	0	0.00
Transponder	25	30	7.66

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.03	-146.6	0.0	0.0	0	78	0.00	0.00	-60.95	0.000	2	0.000	0.000	70	2607	3071
81	-1.03	-146.6	4.1	-6.2	3	107	11.82	2.40	-6.55	0.000	4	0.181	0.080	2129	3858	3417
360	-1.03	-146.6	40.5	-10.9	15	364	0.00	2.17	0.00	0.000	6	0.000	0.028	2129	2579	3418
682	-1.03	-146.6	66.9	-7.3	31	683	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2578	3418
993	-1.03	-146.6	88.2	-5.9	46	997	0.00	2.38	0.00	0.000	4	0.000	0.063	2129	3864	3418
1104	-1.03	-146.6	95.4	-6.4	51	1108	0.00	2.15	0.00	0.000	6	0.000	0.028	2129	2597	3418
1433	-1.03	-146.6	111.6	-5.1	67	1435	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2595	3418
1741	-1.03	-146.6	128.3	-5.4	82	1742	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2595	3418
2050	-1.03	-146.6	149.4	-7.2	97	2052	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2595	3418
2361	-1.03	-146.6	175.4	-9.3	112	2365	0.00	2.45	0.00	0.000	4	0.000	0.042	2129	1206	3418
2401	-1.03	-146.6	179.4	-9.4	114	2405	0.00	2.45	0.00	0.000	6	0.000	0.038	2129	2602	3418
2727	-1.03	-146.6	209.4	-9.3	130	2728	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2601	3418
3037	-1.03	-146.6	239.4	-10.0	145	3038	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2602	3418
3346	-1.03	-146.6	271.6	-10.2	160	3347	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2601	3418
3656	-1.03	-146.6	300.5	-8.6	175	3657	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2601	3418
3965	-1.03	-146.6	326.9	-8.8	190	3966	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2601	3418
4274	-1.03	-146.6	358.7	-11.2	205	4275	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2602	3418
4583	-1.03	-146.6	392.4	-11.4	220	4587	0.00	2.45	0.00	0.000	4	0.000	0.041	2129	1209	3418
4633	-1.08	-146.6	398.1	-11.5	222	4637	0.00	2.45	0.00	0.000	6	0.000	0.039	2129	2602	3418
4948	-1.08	-146.6	432.6	-11.4	237	4949	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2601	3418
5257	-1.08	-146.6	454.3	-8.1	252	5262	0.00	2.47	0.00	0.000	4	0.000	0.044	2129	1205	3418
5308	-1.14	-146.6	459.1	-10.1	254	5312	0.00	2.47	0.00	0.000	6	0.000	0.040	2129	2608	3418
5538	end dive: BOTTOM_OBSTACLE_DETECTED
state	5538	begin apogee
5545	-0.31	0.0	484.1	10.7	265	5674	0.77	0.00	125.40	0.862	6	0.094	0.000	2288	2305	2817
5675	end apogee: CONTROL_FINISHED_OK
state	5675	begin climb
5678	1.03	146.6	487.8	0.0	271	5812	1.38	2.58	126.62	0.852	4	0.075	0.047	2579	908	2218
6042	0.95	155.2	472.9	7.2	287	6056	0.00	2.47	7.68	0.686	6	0.000	0.038	2579	2301	2184
6379	0.88	155.2	448.4	8.2	304	6381	0.15	0.00	0.00	0.000	6	0.097	0.000	2551	2301	2183
6688	0.97	266.5	434.6	3.7	319	6793	0.00	2.75	98.53	0.825	4	0.000	0.065	2551	3705	1728
6862	1.01	266.5	422.9	9.7	327	6867	0.12	2.47	0.00	0.000	6	0.050	0.033	2586	2305	1725
7188	1.01	266.5	392.0	9.8	343	7192	0.00	2.58	0.00	0.000	4	0.000	0.051	2586	891	1720
7254	1.01	266.5	385.5	9.7	346	7258	0.00	2.50	0.00	0.000	6	0.000	0.037	2586	2303	1719
7576	1.01	266.5	356.3	9.4	362	7577	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2303	1719
7885	1.01	266.5	327.1	9.6	377	7886	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2303	1719
8194	1.01	266.5	294.0	11.4	392	8195	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2303	1719
8503	1.01	266.5	260.8	10.8	407	8505	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2304	1718
8812	1.01	266.5	223.8	12.5	422	8814	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2304	1719
9122	1.01	266.5	184.6	12.5	437	9126	0.00	2.53	0.00	0.000	4	0.000	0.046	2586	890	1718
9173	1.01	266.5	178.0	13.4	439	9178	0.00	2.47	0.00	0.000	6	0.000	0.035	2586	2304	1716
9495	1.01	266.5	139.4	11.4	455	9496	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2304	1717
9804	1.01	266.5	104.1	12.3	470	9808	0.00	2.53	0.00	0.000	4	0.000	0.044	2586	892	1717
9837	1.01	266.5	99.6	13.0	471	9843	0.00	2.45	0.00	0.000	6	0.000	0.035	2586	2298	1717
10154	1.01	266.5	58.6	12.2	487	10158	0.00	2.50	0.00	0.000	4	0.000	0.045	2586	895	1717
10203	1.01	266.5	51.9	12.5	489	10208	0.00	2.45	0.00	0.000	6	0.000	0.035	2586	2302	1717
10519	1.01	266.5	16.2	10.7	504	10521	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2302	1717
10661	end climb: SURFACE_DEPTH_REACHED
state	10661	begin surface coast
10683	end surface coast: CONTROL_FINISHED_OK
state	10683	begin surface