Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 56 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 56 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 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2350 ALTIM_PULSE 3

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 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

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 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -77306.648 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

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 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

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 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 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 48 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -77306.648

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 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2350 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 29 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 30 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 56 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-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 24

Pre-dive calculations and measurements:

GPS1 093908,6143.559,-911.760,38,1.3,38,-9.4 TGT_NAME AW

_CALLS 2 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.017,-0.237

_SM_DEPTHo 0.24 KALMAN_X 28033.1,186.5,-229.4,-64555.2,6666.2

_SM_ANGLEo -61.8 KALMAN_Y 136480.0,546.2,-640.0,-117054.6,6217.0

GPS2 094645,6143.570,-911.496,13,1.6,13,-9.4 MHEAD_RNG_PITCHd_Wd 185.4,44831,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.4,1.025665 XPDR_PINGS 389

SM_CCo 12768,0.00,0.000,0,0,927,478.58 ALTIM_BOTTOM_PING 677.1,91.4

SM_GC 0.28,12.20,0.00,0.00,0.033,0.000,0.000,37,1887,927,-11.25,-0.40,478.58 _24V_AH 23.3,20.467

IRIDIUM_FIX 6117.23,-906.85,211107,131338 _10V_AH 10.1,8.403

TT8_MAMPS 0.026845 DATA_FILE_SIZE 31720,611

HUMID 2095 CFSIZE 260165632,255324160

INTERNAL_PRESSURE 9.17027 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,0,0

TCM_TEMP 15.60 GPS 211107,132155,6142.370,-909.314,37,1.6,55,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 142 88.75 SBE_CT 446 24 249.57

Roll_motor 120 82 231.66 SBE_O2 410 19 181.56

VBD_pump_during_apogee 518 1330 16076.80 WL_BB2F 356 105 872.45

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 79 103 190.60 nil 0 0 0.00

Iridium_during_connect 57 160 215.28 nil 0 0 0.00

Iridium_during_xfer 175 223 910.93

Transponder_ping 103 420 1007.96

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.30

TT8 1166 19 233.21

LPSleep 9402 2 207.98

TT8_Active 626 19 125.36

TT8_Sampling 1627 39 654.21

TT8_CF8 411 45 190.42

TT8_Kalman 33 81 27.55

Analog_circuits 1479 12 179.27

GPS_charging 0 0 0.00

Compass 1588 8 128.38

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -1.23 -146.6 0.0 0.0 0 142 0.00 0.00 -116.82 0.000 6 0.000 0.000 35 1882 3476

144 -1.23 -146.6 7.0 -7.5 6 166 11.60 2.60 0.00 0.000 4 0.143 0.045 2220 3303 3478

417 -1.23 -146.6 47.5 -10.2 18 422 0.00 2.55 0.00 0.000 6 0.000 0.044 2220 1907 3478

744 -1.23 -146.6 80.9 -9.6 34 748 0.00 2.53 0.00 0.000 4 0.000 0.048 2220 3305 3478

899 -1.23 -146.6 96.4 -10.2 41 904 0.00 2.55 0.00 0.000 6 0.000 0.044 2220 1905 3478

1227 -1.23 -146.6 130.2 -10.4 57 1228 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1905 3478

1535 -1.23 -146.6 162.1 -10.9 72 1537 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1905 3478

1845 -1.23 -146.6 195.7 -10.7 87 1849 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3304 3478

1883 -1.23 -146.6 199.9 -10.8 89 1888 0.00 2.53 0.00 0.000 6 0.000 0.044 2220 1900 3478

2214 -1.23 -146.6 234.0 -10.3 105 2218 0.00 2.53 0.00 0.000 4 0.000 0.048 2220 3302 3478

2242 -1.23 -146.6 236.9 -10.8 106 2246 0.00 2.53 0.00 0.000 6 0.000 0.044 2221 1900 3478

2557 -1.23 -146.6 269.2 -10.2 121 2558 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1900 3478

2866 -1.23 -146.6 298.6 -9.4 136 2870 0.00 2.53 0.00 0.000 4 0.000 0.048 2220 3305 3478

2921 -1.23 -146.6 303.8 -9.6 138 2927 0.00 2.53 0.00 0.000 6 0.000 0.044 2220 1901 3478

3235 -1.23 -146.6 330.7 -8.5 154 3236 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1901 3478

3544 -1.23 -146.6 358.1 -9.4 169 3548 0.00 2.53 0.00 0.000 4 0.000 0.049 2220 3301 3478

3587 -1.23 -146.6 362.4 -9.7 171 3592 0.00 2.55 0.00 0.000 6 0.000 0.044 2220 1900 3478

3914 -1.23 -146.6 394.3 -9.7 187 3915 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1900 3478

4224 -1.23 -146.6 425.7 -10.2 202 4228 0.00 2.53 0.00 0.000 4 0.000 0.049 2221 3300 3478

4255 -1.23 -146.6 428.9 -10.0 203 4262 0.00 2.55 0.00 0.000 6 0.000 0.045 2220 1901 3478

4571 -1.23 -146.6 457.3 -8.4 219 4572 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1900 3478

4880 -1.23 -146.6 483.3 -8.3 234 4884 0.00 2.53 0.00 0.000 4 0.000 0.051 2220 3300 3478

4924 -1.23 -146.6 486.8 -7.9 236 4928 0.00 2.55 0.00 0.000 6 0.000 0.046 2220 1902 3479

5250 -1.23 -146.6 513.4 -8.3 252 5251 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1902 3478

5559 -1.23 -146.6 538.9 -8.7 267 5563 0.00 2.55 0.00 0.000 4 0.000 0.053 2221 3301 3478

5608 -1.23 -146.6 543.3 -8.8 269 5613 0.00 2.58 0.00 0.000 6 0.000 0.048 2221 1898 3478

5929 -1.23 -146.6 572.9 -9.7 285 5934 0.00 2.55 0.00 0.000 4 0.000 0.054 2220 3299 3478

5984 -1.23 -146.6 578.6 -10.8 287 5991 0.00 2.55 0.00 0.000 6 0.000 0.048 2220 1903 3478

6299 -1.23 -146.6 610.9 -10.0 303 6303 0.00 2.55 0.00 0.000 4 0.000 0.056 2220 3301 3478

6321 -1.23 -146.6 613.3 -11.1 304 6325 0.00 2.55 0.00 0.000 6 0.000 0.049 2220 1894 3478

6646 -1.23 -146.6 645.4 -9.8 320 6651 0.00 2.58 0.00 0.000 4 0.000 0.060 2220 3300 3478

6904 -1.23 -146.6 658.7 -2.6 331 6911 0.00 2.58 0.00 0.000 6 0.000 0.052 2221 1904 3478

7219 -1.23 -146.6 685.3 -7.4 347 7223 0.00 2.58 0.00 0.000 4 0.000 0.061 2220 3297 3478

7475 -1.23 -146.6 711.8 -9.2 358 7482 0.00 2.58 0.00 0.000 6 0.000 0.058 2220 1902 3478

7790 -1.23 -146.6 748.2 -10.6 374 7792 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1903 3478

8016 end dive: BOTTOM_OBSTACLE_DETECTED

state 8016 begin apogee

8021 -0.36 0.0 759.8 6.7 385 8149 0.95 0.00 124.20 1.331 6 0.096 0.000 2416 2349 2878

8149 end apogee: CONTROL_FINISHED_OK

state 8150 begin climb

8151 1.23 146.6 760.7 0.0 391 8282 1.58 2.80 122.00 1.294 4 0.051 0.078 2766 939 2280

8534 1.64 478.9 754.9 -4.7 409 8816 0.38 2.62 272.30 1.292 6 0.037 0.060 2862 2356 925

9124 1.64 478.9 654.5 18.7 438 9129 0.00 2.75 0.00 0.000 4 0.000 0.083 2862 939 925

9149 1.64 478.9 650.3 14.5 439 9155 0.00 2.60 0.00 0.000 6 0.000 0.056 2862 2342 925

9471 1.64 478.9 597.1 16.7 455 9475 0.00 2.67 0.00 0.000 4 0.000 0.076 2863 940 923

9531 1.64 478.9 585.6 19.2 458 9536 0.00 2.55 0.00 0.000 6 0.000 0.049 2862 2352 923

9857 1.64 478.9 527.7 17.5 474 9861 0.00 2.67 0.00 0.000 4 0.000 0.072 2863 933 923

9979 1.64 478.9 504.7 18.5 479 9986 0.00 2.55 0.00 0.000 6 0.000 0.046 2862 2343 924

10294 1.64 478.9 446.2 18.7 495 10298 0.00 2.62 0.00 0.000 4 0.000 0.068 2862 933 924

10394 1.64 478.9 426.1 20.0 499 10399 0.00 2.55 0.00 0.000 6 0.000 0.044 2862 2351 924

10715 1.64 478.9 367.3 18.3 515 10719 0.00 2.65 0.00 0.000 4 0.000 0.067 2862 937 925

10820 1.64 478.9 346.4 20.1 520 10824 0.00 2.50 0.00 0.000 6 0.000 0.043 2862 2352 925

11146 1.64 478.9 282.8 19.4 536 11151 0.00 2.65 0.00 0.000 4 0.000 0.065 2862 940 926

11253 1.64 478.9 260.7 20.8 541 11257 0.00 2.50 0.00 0.000 6 0.000 0.042 2862 2352 927

11577 1.64 478.9 198.7 18.3 557 11582 0.00 2.62 0.00 0.000 4 0.000 0.064 2862 940 927

11676 1.64 478.9 178.6 19.8 561 11683 0.00 2.50 0.00 0.000 6 0.000 0.041 2862 2342 927

11992 1.64 478.9 122.0 18.0 577 11996 0.00 2.62 0.00 0.000 4 0.000 0.063 2862 935 928

12076 1.64 478.9 106.2 19.8 581 12080 0.00 2.50 0.00 0.000 6 0.000 0.041 2863 2354 927

12401 1.64 478.9 46.3 17.7 597 12405 0.00 2.65 0.00 0.000 4 0.000 0.063 2862 932 928

12506 1.64 478.9 26.5 19.2 602 12511 0.00 2.50 0.00 0.000 6 0.000 0.041 2863 2353 928

12666 end climb: SURFACE_DEPTH_REACHED

state 12666 begin surface coast

12688 end surface coast: CONTROL_FINISHED_OK

state 12688 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	56	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	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2350	ALTIM_PULSE	3
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	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
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	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-77306.648	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
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	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	093908,6143.559,-911.760,38,1.3,38,-9.4	TGT_NAME	AW
_CALLS	2	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.017,-0.237
_SM_DEPTHo	0.24	KALMAN_X	28033.1,186.5,-229.4,-64555.2,6666.2
_SM_ANGLEo	-61.8	KALMAN_Y	136480.0,546.2,-640.0,-117054.6,6217.0
GPS2	094645,6143.570,-911.496,13,1.6,13,-9.4	MHEAD_RNG_PITCHd_Wd	185.4,44831,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	-0.4,1.025665	XPDR_PINGS	389
SM_CCo	12768,0.00,0.000,0,0,927,478.58	ALTIM_BOTTOM_PING	677.1,91.4
SM_GC	0.28,12.20,0.00,0.00,0.033,0.000,0.000,37,1887,927,-11.25,-0.40,478.58	_24V_AH	23.3,20.467
IRIDIUM_FIX	6117.23,-906.85,211107,131338	_10V_AH	10.1,8.403
TT8_MAMPS	0.026845	DATA_FILE_SIZE	31720,611
HUMID	2095	CFSIZE	260165632,255324160
INTERNAL_PRESSURE	9.17027	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
TCM_TEMP	15.60	GPS	211107,132155,6142.370,-909.314,37,1.6,55,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	142	88.75	SBE_CT	446	24	249.57
Roll_motor	120	82	231.66	SBE_O2	410	19	181.56
VBD_pump_during_apogee	518	1330	16076.80	WL_BB2F	356	105	872.45
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	79	103	190.60	nil	0	0	0.00
Iridium_during_connect	57	160	215.28	nil	0	0	0.00
Iridium_during_xfer	175	223	910.93
Transponder_ping	103	420	1007.96
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.30
TT8	1166	19	233.21
LPSleep	9402	2	207.98
TT8_Active	626	19	125.36
TT8_Sampling	1627	39	654.21
TT8_CF8	411	45	190.42
TT8_Kalman	33	81	27.55
Analog_circuits	1479	12	179.27
GPS_charging	0	0	0.00
Compass	1588	8	128.38
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-1.23	-146.6	0.0	0.0	0	142	0.00	0.00	-116.82	0.000	6	0.000	0.000	35	1882	3476
144	-1.23	-146.6	7.0	-7.5	6	166	11.60	2.60	0.00	0.000	4	0.143	0.045	2220	3303	3478
417	-1.23	-146.6	47.5	-10.2	18	422	0.00	2.55	0.00	0.000	6	0.000	0.044	2220	1907	3478
744	-1.23	-146.6	80.9	-9.6	34	748	0.00	2.53	0.00	0.000	4	0.000	0.048	2220	3305	3478
899	-1.23	-146.6	96.4	-10.2	41	904	0.00	2.55	0.00	0.000	6	0.000	0.044	2220	1905	3478
1227	-1.23	-146.6	130.2	-10.4	57	1228	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1905	3478
1535	-1.23	-146.6	162.1	-10.9	72	1537	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1905	3478
1845	-1.23	-146.6	195.7	-10.7	87	1849	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3304	3478
1883	-1.23	-146.6	199.9	-10.8	89	1888	0.00	2.53	0.00	0.000	6	0.000	0.044	2220	1900	3478
2214	-1.23	-146.6	234.0	-10.3	105	2218	0.00	2.53	0.00	0.000	4	0.000	0.048	2220	3302	3478
2242	-1.23	-146.6	236.9	-10.8	106	2246	0.00	2.53	0.00	0.000	6	0.000	0.044	2221	1900	3478
2557	-1.23	-146.6	269.2	-10.2	121	2558	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1900	3478
2866	-1.23	-146.6	298.6	-9.4	136	2870	0.00	2.53	0.00	0.000	4	0.000	0.048	2220	3305	3478
2921	-1.23	-146.6	303.8	-9.6	138	2927	0.00	2.53	0.00	0.000	6	0.000	0.044	2220	1901	3478
3235	-1.23	-146.6	330.7	-8.5	154	3236	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1901	3478
3544	-1.23	-146.6	358.1	-9.4	169	3548	0.00	2.53	0.00	0.000	4	0.000	0.049	2220	3301	3478
3587	-1.23	-146.6	362.4	-9.7	171	3592	0.00	2.55	0.00	0.000	6	0.000	0.044	2220	1900	3478
3914	-1.23	-146.6	394.3	-9.7	187	3915	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1900	3478
4224	-1.23	-146.6	425.7	-10.2	202	4228	0.00	2.53	0.00	0.000	4	0.000	0.049	2221	3300	3478
4255	-1.23	-146.6	428.9	-10.0	203	4262	0.00	2.55	0.00	0.000	6	0.000	0.045	2220	1901	3478
4571	-1.23	-146.6	457.3	-8.4	219	4572	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1900	3478
4880	-1.23	-146.6	483.3	-8.3	234	4884	0.00	2.53	0.00	0.000	4	0.000	0.051	2220	3300	3478
4924	-1.23	-146.6	486.8	-7.9	236	4928	0.00	2.55	0.00	0.000	6	0.000	0.046	2220	1902	3479
5250	-1.23	-146.6	513.4	-8.3	252	5251	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1902	3478
5559	-1.23	-146.6	538.9	-8.7	267	5563	0.00	2.55	0.00	0.000	4	0.000	0.053	2221	3301	3478
5608	-1.23	-146.6	543.3	-8.8	269	5613	0.00	2.58	0.00	0.000	6	0.000	0.048	2221	1898	3478
5929	-1.23	-146.6	572.9	-9.7	285	5934	0.00	2.55	0.00	0.000	4	0.000	0.054	2220	3299	3478
5984	-1.23	-146.6	578.6	-10.8	287	5991	0.00	2.55	0.00	0.000	6	0.000	0.048	2220	1903	3478
6299	-1.23	-146.6	610.9	-10.0	303	6303	0.00	2.55	0.00	0.000	4	0.000	0.056	2220	3301	3478
6321	-1.23	-146.6	613.3	-11.1	304	6325	0.00	2.55	0.00	0.000	6	0.000	0.049	2220	1894	3478
6646	-1.23	-146.6	645.4	-9.8	320	6651	0.00	2.58	0.00	0.000	4	0.000	0.060	2220	3300	3478
6904	-1.23	-146.6	658.7	-2.6	331	6911	0.00	2.58	0.00	0.000	6	0.000	0.052	2221	1904	3478
7219	-1.23	-146.6	685.3	-7.4	347	7223	0.00	2.58	0.00	0.000	4	0.000	0.061	2220	3297	3478
7475	-1.23	-146.6	711.8	-9.2	358	7482	0.00	2.58	0.00	0.000	6	0.000	0.058	2220	1902	3478
7790	-1.23	-146.6	748.2	-10.6	374	7792	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1903	3478
8016	end dive: BOTTOM_OBSTACLE_DETECTED
state	8016	begin apogee
8021	-0.36	0.0	759.8	6.7	385	8149	0.95	0.00	124.20	1.331	6	0.096	0.000	2416	2349	2878
8149	end apogee: CONTROL_FINISHED_OK
state	8150	begin climb
8151	1.23	146.6	760.7	0.0	391	8282	1.58	2.80	122.00	1.294	4	0.051	0.078	2766	939	2280
8534	1.64	478.9	754.9	-4.7	409	8816	0.38	2.62	272.30	1.292	6	0.037	0.060	2862	2356	925
9124	1.64	478.9	654.5	18.7	438	9129	0.00	2.75	0.00	0.000	4	0.000	0.083	2862	939	925
9149	1.64	478.9	650.3	14.5	439	9155	0.00	2.60	0.00	0.000	6	0.000	0.056	2862	2342	925
9471	1.64	478.9	597.1	16.7	455	9475	0.00	2.67	0.00	0.000	4	0.000	0.076	2863	940	923
9531	1.64	478.9	585.6	19.2	458	9536	0.00	2.55	0.00	0.000	6	0.000	0.049	2862	2352	923
9857	1.64	478.9	527.7	17.5	474	9861	0.00	2.67	0.00	0.000	4	0.000	0.072	2863	933	923
9979	1.64	478.9	504.7	18.5	479	9986	0.00	2.55	0.00	0.000	6	0.000	0.046	2862	2343	924
10294	1.64	478.9	446.2	18.7	495	10298	0.00	2.62	0.00	0.000	4	0.000	0.068	2862	933	924
10394	1.64	478.9	426.1	20.0	499	10399	0.00	2.55	0.00	0.000	6	0.000	0.044	2862	2351	924
10715	1.64	478.9	367.3	18.3	515	10719	0.00	2.65	0.00	0.000	4	0.000	0.067	2862	937	925
10820	1.64	478.9	346.4	20.1	520	10824	0.00	2.50	0.00	0.000	6	0.000	0.043	2862	2352	925
11146	1.64	478.9	282.8	19.4	536	11151	0.00	2.65	0.00	0.000	4	0.000	0.065	2862	940	926
11253	1.64	478.9	260.7	20.8	541	11257	0.00	2.50	0.00	0.000	6	0.000	0.042	2862	2352	927
11577	1.64	478.9	198.7	18.3	557	11582	0.00	2.62	0.00	0.000	4	0.000	0.064	2862	940	927
11676	1.64	478.9	178.6	19.8	561	11683	0.00	2.50	0.00	0.000	6	0.000	0.041	2862	2342	927
11992	1.64	478.9	122.0	18.0	577	11996	0.00	2.62	0.00	0.000	4	0.000	0.063	2862	935	928
12076	1.64	478.9	106.2	19.8	581	12080	0.00	2.50	0.00	0.000	6	0.000	0.041	2863	2354	927
12401	1.64	478.9	46.3	17.7	597	12405	0.00	2.65	0.00	0.000	4	0.000	0.063	2862	932	928
12506	1.64	478.9	26.5	19.2	602	12511	0.00	2.50	0.00	0.000	6	0.000	0.041	2863	2353	928
12666	end climb: SURFACE_DEPTH_REACHED
state	12666	begin surface coast
12688	end surface coast: CONTROL_FINISHED_OK
state	12688	begin surface