Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 54 * 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 54 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 120 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 -2076136.5 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 1 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 412.5

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 -2076136.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

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 18 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 1 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 54 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 030407,6131.036,-853.075,52,1.1,57,-9.2 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 14 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.177,0.170

_SM_DEPTHo 1.47 KALMAN_X 4883.1,-1145.5,-166.7,7495.1,10164.0

_SM_ANGLEo -64.1 KALMAN_Y 81076.0,-113.8,400.9,-94624.3,-2449.9

GPS2 030909,6131.046,-853.086,13,1.6,13,-9.2 MHEAD_RNG_PITCHd_Wd 323.0,32200,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.003931 ALTIM_BOTTOM_PING 551.9,98.5

SM_CCo 13664,24.40,0.571,2,0,1594,300.00 _24V_AH 23.6,14.140

SM_GC 1.69,0.00,0.00,24.40,0.000,0.000,0.571,71,2402,1594,-10.76,0.06,300.00 _10V_AH 10.2,5.895

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31697,661

TT8_MAMPS 0.023777 CFSIZE 260165632,255881216

HUMID 2097 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,2,0

TCM_TEMP 16.40 GPS 211107,065925,6133.387,-853.785,36,1.9,36,-9.2

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 173 105.24 SBE_CT 456 24 258.63

Roll_motor 78 74 138.45 SBE_O2 478 19 214.45

VBD_pump_during_apogee 337 1095 8727.75 WL_BB2F 407 105 1010.16

VBD_pump_during_surface 24 570 328.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.53 nil 0 0 0.00

Iridium_during_connect 37 160 140.57 nil 0 0 0.00

Iridium_during_xfer 160 223 842.78

Transponder_ping 4 420 47.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.69

TT8 1179 19 238.18

LPSleep 10719 2 239.45

TT8_Active 463 19 93.64

TT8_Sampling 1337 39 542.82

TT8_CF8 310 45 145.14

TT8_Kalman 33 81 27.84

Analog_circuits 1135 12 138.94

GPS_charging 0 0 0.00

Compass 1312 8 107.13

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.08 -146.6 0.0 0.0 0 82 0.00 0.00 -62.80 0.000 2 0.000 0.000 70 2403 3296

84 -1.08 -146.6 4.9 -8.8 3 106 11.82 2.62 -2.38 0.000 4 0.173 0.074 2167 985 3418

200 -1.08 -146.6 24.4 -10.1 8 205 0.00 2.60 0.00 0.000 6 0.000 0.051 2167 2390 3418

529 -1.08 -146.6 62.1 -11.8 24 530 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2390 3418

837 -1.08 -146.6 99.0 -11.9 39 838 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2390 3418

1146 -1.08 -146.6 134.1 -11.0 54 1147 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2390 3418

1455 -1.08 -146.6 168.1 -10.9 69 1456 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2390 3418

1765 -1.08 -146.6 201.4 -11.2 84 1769 0.00 2.55 0.00 0.000 4 0.000 0.071 2167 3767 3418

1818 -1.08 -146.6 208.2 -12.4 86 1825 0.00 2.47 0.00 0.000 6 0.000 0.048 2167 2405 3418

2134 -1.08 -146.6 242.2 -10.4 102 2138 0.00 2.60 0.00 0.000 4 0.000 0.065 2167 987 3418

2172 -1.08 -146.6 246.1 -10.5 104 2176 0.00 2.58 0.00 0.000 6 0.000 0.054 2167 2400 3418

2497 -1.08 -146.6 278.6 -9.9 120 2498 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2400 3418

2806 -1.08 -146.6 309.2 -9.7 135 2807 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2400 3418

3115 -1.08 -146.6 339.8 -9.9 150 3116 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2400 3418

3425 -1.08 -146.6 372.3 -10.7 165 3426 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2400 3418

3734 -1.08 -146.6 404.4 -10.0 180 3735 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2400 3418

4043 -1.08 -146.6 434.0 -9.5 195 4044 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2400 3419

4352 -1.08 -146.6 465.1 -10.4 210 4357 0.00 2.55 0.00 0.000 4 0.000 0.074 2167 3766 3419

4396 -1.08 -146.6 469.9 -10.4 212 4400 0.00 2.47 0.00 0.000 6 0.000 0.049 2167 2404 3419

4722 -1.08 -146.6 505.9 -11.3 228 4724 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2404 3418

5031 -1.08 -146.6 540.5 -11.0 243 5036 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 986 3419

5085 -1.08 -146.6 546.8 -11.3 245 5093 0.00 2.58 0.00 0.000 6 0.000 0.051 2167 2396 3419

5401 -1.08 -146.6 580.3 -10.4 261 5406 0.00 2.60 0.00 0.000 4 0.000 0.063 2167 981 3418

5450 -1.08 -146.6 585.4 -10.1 263 5455 0.00 2.60 0.00 0.000 6 0.000 0.052 2167 2398 3419

5771 -1.08 -146.6 618.3 -10.2 279 5772 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2398 3418

5997 end dive: BOTTOM_OBSTACLE_DETECTED

state 5997 begin apogee

6001 -0.31 0.0 641.5 10.2 290 6125 0.85 0.00 120.50 1.095 6 0.110 0.000 2337 2195 2817

6126 end apogee: CONTROL_FINISHED_OK

state 6126 begin climb

6127 1.08 146.6 645.8 0.0 296 6253 1.48 2.72 118.05 1.071 4 0.091 0.071 2643 3615 2219

6292 1.08 146.6 638.6 8.2 304 6297 0.00 2.62 0.00 0.000 6 0.000 0.053 2643 2211 2218

6618 1.08 146.6 610.8 9.0 320 6623 0.00 2.65 0.00 0.000 4 0.000 0.064 2643 786 2218

6657 1.08 146.6 607.0 10.1 322 6661 0.00 2.58 0.00 0.000 6 0.000 0.047 2643 2204 2218

6983 1.08 146.6 579.5 8.2 338 6987 0.00 2.62 0.00 0.000 4 0.000 0.071 2643 3613 2218

7021 1.08 146.6 576.3 8.8 340 7025 0.00 2.58 0.00 0.000 6 0.000 0.054 2643 2200 2218

7347 1.12 176.4 552.1 6.9 356 7377 0.00 2.70 24.75 0.985 4 0.000 0.064 2643 781 2096

7420 1.12 176.4 546.4 8.6 359 7427 0.00 2.60 0.00 0.000 6 0.000 0.045 2644 2195 2096

7736 1.12 176.4 520.8 8.2 375 7737 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2195 2095

8045 1.12 176.4 493.0 9.1 390 8049 0.00 2.62 0.00 0.000 4 0.000 0.071 2642 3611 2095

8099 1.12 176.4 487.8 9.1 392 8104 0.00 2.60 0.00 0.000 6 0.000 0.054 2643 2200 2095

8421 1.13 190.3 462.0 7.5 408 8435 0.00 0.00 12.30 0.878 6 0.000 0.000 2643 2201 2041

8730 1.14 199.2 438.6 7.7 423 8744 0.00 2.70 8.62 0.815 4 0.000 0.071 2643 3610 2005

8799 1.14 199.2 432.6 9.1 426 8804 0.00 2.62 0.00 0.000 6 0.000 0.054 2643 2199 2005

9126 1.15 206.8 407.9 7.7 442 9136 0.00 0.00 7.90 0.783 6 0.000 0.000 2643 2199 1973

9435 1.15 206.8 382.3 8.8 457 9437 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2199 1973

9744 1.15 206.8 355.9 8.6 472 9746 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2199 1973

10054 1.15 206.8 330.6 8.0 487 10055 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2199 1973

10363 1.15 206.8 306.4 8.0 502 10367 0.00 2.60 0.00 0.000 4 0.000 0.065 2643 786 1973

10395 1.15 206.8 303.8 8.5 503 10400 0.00 2.58 0.00 0.000 6 0.000 0.046 2643 2199 1972

10716 1.15 206.8 277.2 8.3 519 10720 0.00 2.62 0.00 0.000 4 0.000 0.070 2643 3618 1972

10782 1.15 206.8 271.4 9.8 522 10787 0.00 2.60 0.00 0.000 6 0.000 0.054 2643 2201 1972

11109 1.15 206.8 243.1 9.4 538 11110 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2201 1972

11418 1.15 206.8 213.7 9.4 553 11419 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2201 1972

11727 1.15 206.8 185.1 9.5 568 11728 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2202 1972

12037 1.15 210.9 159.4 7.8 583 12043 0.00 0.00 4.80 0.565 6 0.000 0.000 2643 2201 1956

12347 1.15 210.9 134.5 8.2 598 12348 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2201 1957

12656 1.21 262.7 113.3 6.1 613 12703 0.15 2.67 40.72 0.732 4 0.046 0.062 2693 782 1745

12752 1.21 262.7 103.3 11.6 617 12759 0.00 2.60 0.00 0.000 6 0.000 0.045 2693 2199 1744

13068 1.21 262.7 67.0 9.3 633 13069 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2199 1744

13377 1.21 262.7 30.5 11.3 648 13378 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2199 1744

13623 end climb: SURFACE_DEPTH_REACHED

state 13623 begin surface coast

13645 end surface coast: CONTROL_FINISHED_OK

state 13645 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	54	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	120	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	-2076136.5	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	1	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	030407,6131.036,-853.075,52,1.1,57,-9.2	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	14	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.177,0.170
_SM_DEPTHo	1.47	KALMAN_X	4883.1,-1145.5,-166.7,7495.1,10164.0
_SM_ANGLEo	-64.1	KALMAN_Y	81076.0,-113.8,400.9,-94624.3,-2449.9
GPS2	030909,6131.046,-853.086,13,1.6,13,-9.2	MHEAD_RNG_PITCHd_Wd	323.0,32200,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.003931	ALTIM_BOTTOM_PING	551.9,98.5
SM_CCo	13664,24.40,0.571,2,0,1594,300.00	_24V_AH	23.6,14.140
SM_GC	1.69,0.00,0.00,24.40,0.000,0.000,0.571,71,2402,1594,-10.76,0.06,300.00	_10V_AH	10.2,5.895
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31697,661
TT8_MAMPS	0.023777	CFSIZE	260165632,255881216
HUMID	2097	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
TCM_TEMP	16.40	GPS	211107,065925,6133.387,-853.785,36,1.9,36,-9.2
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	173	105.24	SBE_CT	456	24	258.63
Roll_motor	78	74	138.45	SBE_O2	478	19	214.45
VBD_pump_during_apogee	337	1095	8727.75	WL_BB2F	407	105	1010.16
VBD_pump_during_surface	24	570	328.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.53	nil	0	0	0.00
Iridium_during_connect	37	160	140.57	nil	0	0	0.00
Iridium_during_xfer	160	223	842.78
Transponder_ping	4	420	47.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.69
TT8	1179	19	238.18
LPSleep	10719	2	239.45
TT8_Active	463	19	93.64
TT8_Sampling	1337	39	542.82
TT8_CF8	310	45	145.14
TT8_Kalman	33	81	27.84
Analog_circuits	1135	12	138.94
GPS_charging	0	0	0.00
Compass	1312	8	107.13
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.08	-146.6	0.0	0.0	0	82	0.00	0.00	-62.80	0.000	2	0.000	0.000	70	2403	3296
84	-1.08	-146.6	4.9	-8.8	3	106	11.82	2.62	-2.38	0.000	4	0.173	0.074	2167	985	3418
200	-1.08	-146.6	24.4	-10.1	8	205	0.00	2.60	0.00	0.000	6	0.000	0.051	2167	2390	3418
529	-1.08	-146.6	62.1	-11.8	24	530	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2390	3418
837	-1.08	-146.6	99.0	-11.9	39	838	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2390	3418
1146	-1.08	-146.6	134.1	-11.0	54	1147	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2390	3418
1455	-1.08	-146.6	168.1	-10.9	69	1456	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2390	3418
1765	-1.08	-146.6	201.4	-11.2	84	1769	0.00	2.55	0.00	0.000	4	0.000	0.071	2167	3767	3418
1818	-1.08	-146.6	208.2	-12.4	86	1825	0.00	2.47	0.00	0.000	6	0.000	0.048	2167	2405	3418
2134	-1.08	-146.6	242.2	-10.4	102	2138	0.00	2.60	0.00	0.000	4	0.000	0.065	2167	987	3418
2172	-1.08	-146.6	246.1	-10.5	104	2176	0.00	2.58	0.00	0.000	6	0.000	0.054	2167	2400	3418
2497	-1.08	-146.6	278.6	-9.9	120	2498	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2400	3418
2806	-1.08	-146.6	309.2	-9.7	135	2807	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2400	3418
3115	-1.08	-146.6	339.8	-9.9	150	3116	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2400	3418
3425	-1.08	-146.6	372.3	-10.7	165	3426	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2400	3418
3734	-1.08	-146.6	404.4	-10.0	180	3735	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2400	3418
4043	-1.08	-146.6	434.0	-9.5	195	4044	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2400	3419
4352	-1.08	-146.6	465.1	-10.4	210	4357	0.00	2.55	0.00	0.000	4	0.000	0.074	2167	3766	3419
4396	-1.08	-146.6	469.9	-10.4	212	4400	0.00	2.47	0.00	0.000	6	0.000	0.049	2167	2404	3419
4722	-1.08	-146.6	505.9	-11.3	228	4724	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2404	3418
5031	-1.08	-146.6	540.5	-11.0	243	5036	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	986	3419
5085	-1.08	-146.6	546.8	-11.3	245	5093	0.00	2.58	0.00	0.000	6	0.000	0.051	2167	2396	3419
5401	-1.08	-146.6	580.3	-10.4	261	5406	0.00	2.60	0.00	0.000	4	0.000	0.063	2167	981	3418
5450	-1.08	-146.6	585.4	-10.1	263	5455	0.00	2.60	0.00	0.000	6	0.000	0.052	2167	2398	3419
5771	-1.08	-146.6	618.3	-10.2	279	5772	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2398	3418
5997	end dive: BOTTOM_OBSTACLE_DETECTED
state	5997	begin apogee
6001	-0.31	0.0	641.5	10.2	290	6125	0.85	0.00	120.50	1.095	6	0.110	0.000	2337	2195	2817
6126	end apogee: CONTROL_FINISHED_OK
state	6126	begin climb
6127	1.08	146.6	645.8	0.0	296	6253	1.48	2.72	118.05	1.071	4	0.091	0.071	2643	3615	2219
6292	1.08	146.6	638.6	8.2	304	6297	0.00	2.62	0.00	0.000	6	0.000	0.053	2643	2211	2218
6618	1.08	146.6	610.8	9.0	320	6623	0.00	2.65	0.00	0.000	4	0.000	0.064	2643	786	2218
6657	1.08	146.6	607.0	10.1	322	6661	0.00	2.58	0.00	0.000	6	0.000	0.047	2643	2204	2218
6983	1.08	146.6	579.5	8.2	338	6987	0.00	2.62	0.00	0.000	4	0.000	0.071	2643	3613	2218
7021	1.08	146.6	576.3	8.8	340	7025	0.00	2.58	0.00	0.000	6	0.000	0.054	2643	2200	2218
7347	1.12	176.4	552.1	6.9	356	7377	0.00	2.70	24.75	0.985	4	0.000	0.064	2643	781	2096
7420	1.12	176.4	546.4	8.6	359	7427	0.00	2.60	0.00	0.000	6	0.000	0.045	2644	2195	2096
7736	1.12	176.4	520.8	8.2	375	7737	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2195	2095
8045	1.12	176.4	493.0	9.1	390	8049	0.00	2.62	0.00	0.000	4	0.000	0.071	2642	3611	2095
8099	1.12	176.4	487.8	9.1	392	8104	0.00	2.60	0.00	0.000	6	0.000	0.054	2643	2200	2095
8421	1.13	190.3	462.0	7.5	408	8435	0.00	0.00	12.30	0.878	6	0.000	0.000	2643	2201	2041
8730	1.14	199.2	438.6	7.7	423	8744	0.00	2.70	8.62	0.815	4	0.000	0.071	2643	3610	2005
8799	1.14	199.2	432.6	9.1	426	8804	0.00	2.62	0.00	0.000	6	0.000	0.054	2643	2199	2005
9126	1.15	206.8	407.9	7.7	442	9136	0.00	0.00	7.90	0.783	6	0.000	0.000	2643	2199	1973
9435	1.15	206.8	382.3	8.8	457	9437	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2199	1973
9744	1.15	206.8	355.9	8.6	472	9746	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2199	1973
10054	1.15	206.8	330.6	8.0	487	10055	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2199	1973
10363	1.15	206.8	306.4	8.0	502	10367	0.00	2.60	0.00	0.000	4	0.000	0.065	2643	786	1973
10395	1.15	206.8	303.8	8.5	503	10400	0.00	2.58	0.00	0.000	6	0.000	0.046	2643	2199	1972
10716	1.15	206.8	277.2	8.3	519	10720	0.00	2.62	0.00	0.000	4	0.000	0.070	2643	3618	1972
10782	1.15	206.8	271.4	9.8	522	10787	0.00	2.60	0.00	0.000	6	0.000	0.054	2643	2201	1972
11109	1.15	206.8	243.1	9.4	538	11110	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2201	1972
11418	1.15	206.8	213.7	9.4	553	11419	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2201	1972
11727	1.15	206.8	185.1	9.5	568	11728	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2202	1972
12037	1.15	210.9	159.4	7.8	583	12043	0.00	0.00	4.80	0.565	6	0.000	0.000	2643	2201	1956
12347	1.15	210.9	134.5	8.2	598	12348	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2201	1957
12656	1.21	262.7	113.3	6.1	613	12703	0.15	2.67	40.72	0.732	4	0.046	0.062	2693	782	1745
12752	1.21	262.7	103.3	11.6	617	12759	0.00	2.60	0.00	0.000	6	0.000	0.045	2693	2199	1744
13068	1.21	262.7	67.0	9.3	633	13069	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2199	1744
13377	1.21	262.7	30.5	11.3	648	13378	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2199	1744
13623	end climb: SURFACE_DEPTH_REACHED
state	13623	begin surface coast
13645	end surface coast: CONTROL_FINISHED_OK
state	13645	begin surface