Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 101 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 101 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 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 2781 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 -2095042.5 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 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 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

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 557.32159

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 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 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 -2095042.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

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 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 101 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 224508,6201.828,-910.452,28,1.8,28,-9.5 TGT_NAME B1

_CALLS 1 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.078,-0.207

_SM_DEPTHo 1.08 KALMAN_X -169428.7,1444.0,648.0,-43831.6,-26201.1

_SM_ANGLEo -54.9 KALMAN_Y -26646.4,-4609.0,-1614.2,170450.6,56827.2

GPS2 225014,6201.871,-910.573,14,1.8,31,-9.5 MHEAD_RNG_PITCHd_Wd 178.1,29044,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027201 ALTIM_BOTTOM_PING 425.6,65.9

SM_CCo 12400,115.55,0.631,0,0,508,557.32 _24V_AH 23.6,19.808

SM_GC 1.03,0.00,0.00,115.55,0.000,0.000,0.631,66,2307,508,-10.28,0.23,557.32 _10V_AH 10.1,10.083

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31716,595

TT8_MAMPS 0.023777 CAP_FILE_SIZE 98358,0

HUMID 1882 CFSIZE 260165632,251854848

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 33 GPS 290608,022102,6203.527,-911.470,41,1.8,41,-9.5

ALTIM_TOP_PING 18.5,17.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 162 96.22 SBE_CT 436 24 247.29

Roll_motor 129 93 285.15 SBE_O2 403 19 180.83

VBD_pump_during_apogee 411 977 9495.91 WL_BB2F 432 105 1072.71

VBD_pump_during_surface 115 631 1721.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.12 nil 0 0 0.00

Iridium_during_connect 27 160 105.43 nil 0 0 0.00

Iridium_during_xfer 130 223 685.80

Transponder_ping 12 420 118.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.70

TT8 1121 19 224.20

LPSleep 9221 2 203.96

TT8_Active 676 19 135.23

TT8_Sampling 1407 39 565.79

TT8_CF8 400 45 185.17

TT8_Kalman 33 81 27.56

Analog_circuits 1407 12 170.63

GPS_charging 0 0 0.00

Compass 1356 8 109.59

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -121.12 0.000 2 0.000 0.000 71 2304 2950

150 -0.85 -146.6 3.8 -3.2 6 180 11.25 2.67 -10.25 0.000 4 0.163 0.074 2109 880 3380

427 -0.72 -146.6 38.8 -11.0 18 433 0.17 2.65 0.00 0.000 6 0.092 0.058 2142 2302 3381

744 -0.64 -146.6 68.1 -9.3 33 748 0.00 2.67 0.00 0.000 4 0.000 0.063 2142 874 3380

810 -0.64 -146.6 74.6 -9.6 36 814 0.00 2.65 0.00 0.000 6 0.000 0.057 2142 2300 3381

1131 -0.58 -146.6 100.4 -7.7 52 1136 0.15 2.67 0.00 0.000 4 0.093 0.064 2175 877 3381

1204 -0.64 -146.6 105.1 -6.1 55 1209 0.00 2.65 0.00 0.000 6 0.000 0.056 2175 2304 3381

1522 -0.64 -146.6 124.3 -5.9 70 1526 0.00 2.67 0.00 0.000 4 0.000 0.065 2175 879 3381

1555 -0.70 -146.6 126.4 -5.6 71 1562 0.12 2.62 0.00 0.000 6 0.044 0.058 2131 2301 3382

1871 -0.61 -146.6 154.5 -9.8 87 1877 0.15 2.67 0.00 0.000 4 0.083 0.066 2167 877 3382

1956 -0.61 -146.6 161.6 -7.9 91 1961 0.00 2.62 0.00 0.000 6 0.000 0.058 2167 2300 3382

2283 -0.61 -146.6 187.8 -7.8 107 2284 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2300 3382

2593 -0.61 -146.6 211.8 -7.9 122 2597 0.00 2.67 0.00 0.000 4 0.000 0.067 2166 876 3382

2620 -0.65 -146.6 214.1 -8.4 123 2624 0.00 2.65 0.00 0.000 6 0.000 0.058 2167 2302 3382

2936 -0.65 -146.6 237.3 -7.3 138 2940 0.00 2.67 0.00 0.000 4 0.000 0.069 2167 878 3382

2976 -0.71 -146.6 240.2 -7.4 140 2980 0.00 2.62 0.00 0.000 6 0.000 0.059 2167 2300 3382

3302 -0.71 -146.6 267.8 -8.9 156 3303 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2300 3382

3612 -0.71 -146.6 294.5 -8.7 171 3616 0.00 2.67 0.00 0.000 4 0.000 0.069 2167 879 3382

3639 -0.75 -146.6 296.9 -8.4 172 3645 0.15 2.62 0.00 0.000 6 0.043 0.060 2119 2301 3382

3955 -0.62 -146.6 329.8 -10.1 187 3960 0.17 2.67 0.00 0.000 4 0.083 0.070 2159 880 3382

4023 -0.66 -146.6 335.3 -7.8 190 4027 0.00 2.65 0.00 0.000 6 0.000 0.061 2159 2302 3382

4344 -0.66 -146.6 359.3 -7.8 206 4345 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2303 3382

4653 -0.66 -146.6 381.7 -6.8 221 4654 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2303 3381

4966 -0.66 -146.6 401.1 -5.9 236 4970 0.00 2.70 0.00 0.000 4 0.000 0.073 2159 881 3381

5028 -0.74 -146.6 405.4 -6.0 239 5033 0.00 2.65 0.00 0.000 6 0.000 0.063 2160 2301 3381

5354 -0.74 -146.6 429.0 -8.1 255 5356 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2302 3381

5663 -0.74 -146.6 452.2 -7.1 270 5668 0.00 2.72 0.00 0.000 4 0.000 0.076 2159 881 3380

5713 -0.80 -146.6 455.8 -6.1 272 5718 0.15 2.67 0.00 0.000 6 0.046 0.066 2115 2300 3380

6006 end dive: BOTTOM_OBSTACLE_DETECTED

state 6006 begin apogee

6013 -0.31 0.0 482.3 9.5 286 6148 0.57 0.00 128.88 0.977 6 0.089 0.000 2232 2192 2781

6149 end apogee: CONTROL_FINISHED_OK

state 6149 begin climb

6152 0.85 146.6 490.4 0.0 293 6288 1.15 2.80 127.20 0.965 4 0.067 0.076 2481 792 2183

6340 0.92 259.2 489.5 2.9 302 6446 0.00 2.67 97.95 0.955 6 0.000 0.063 2481 2202 1724

6774 1.04 280.8 459.9 5.4 323 6800 0.17 2.78 19.55 0.898 4 0.054 0.077 2531 785 1636

6904 1.04 280.8 450.9 8.2 329 6909 0.00 2.67 0.00 0.000 6 0.000 0.064 2531 2199 1634

7231 1.06 297.9 430.8 5.5 345 7251 0.00 0.00 15.95 0.890 6 0.000 0.000 2531 2198 1566

7561 1.06 297.9 407.9 7.0 361 7565 0.00 2.72 0.00 0.000 4 0.000 0.081 2531 789 1565

7582 1.06 297.9 406.3 7.2 362 7586 0.00 2.67 0.00 0.000 6 0.000 0.066 2531 2199 1564

7903 1.07 309.2 385.7 5.7 378 7919 0.00 2.85 10.80 0.856 4 0.000 0.094 2531 3619 1520

7943 1.08 320.6 383.7 5.7 379 7963 0.00 2.72 11.45 0.854 6 0.000 0.073 2531 2206 1473

8272 1.08 320.6 363.5 7.5 395 8277 0.00 2.75 0.00 0.000 4 0.000 0.079 2531 778 1472

8294 1.08 320.6 361.6 8.7 396 8298 0.00 2.70 0.00 0.000 6 0.000 0.062 2531 2205 1471

8615 1.08 320.6 334.6 8.0 412 8619 0.00 2.75 0.00 0.000 4 0.000 0.074 2531 777 1471

8647 1.08 320.6 331.9 8.2 413 8653 0.00 2.67 0.00 0.000 6 0.000 0.061 2531 2203 1471

8963 1.08 320.6 302.1 10.1 429 8964 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2203 1471

9272 1.08 320.6 273.5 8.7 444 9277 0.00 2.75 0.00 0.000 4 0.000 0.086 2531 3619 1471

9317 1.08 320.6 269.4 9.6 446 9321 0.00 2.70 0.00 0.000 6 0.000 0.068 2531 2199 1471

9637 1.08 320.6 243.4 8.0 462 9642 0.00 2.70 0.00 0.000 4 0.000 0.072 2531 773 1471

9665 1.08 320.6 241.1 7.7 463 9669 0.00 2.65 0.00 0.000 6 0.000 0.057 2531 2201 1471

9980 1.08 320.6 216.8 7.6 478 9982 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2201 1471

10289 1.08 320.6 191.4 8.7 493 10294 0.00 2.70 0.00 0.000 4 0.000 0.069 2531 772 1472

10329 1.12 320.6 187.9 9.0 495 10334 0.00 2.65 0.00 0.000 6 0.000 0.055 2531 2205 1472

10656 1.12 320.6 157.8 9.2 511 10660 0.00 2.70 0.00 0.000 4 0.000 0.081 2531 3614 1472

10696 1.17 320.6 154.3 9.7 513 10701 0.10 2.65 0.00 0.000 6 0.054 0.064 2564 2199 1473

11023 1.11 320.6 124.5 8.1 529 11028 0.12 2.67 0.00 0.000 4 0.084 0.068 2538 772 1473

11063 1.11 320.6 121.2 7.5 531 11068 0.00 2.65 0.00 0.000 6 0.000 0.054 2538 2206 1473

11390 1.11 320.6 92.2 9.6 547 11392 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2205 1473

11700 1.11 320.6 60.2 10.6 562 11704 0.00 2.67 0.00 0.000 4 0.000 0.067 2538 779 1473

11732 1.11 320.6 56.5 10.5 563 11739 0.00 2.60 0.00 0.000 6 0.000 0.054 2538 2202 1474

12050 1.11 320.6 28.9 7.8 579 12054 0.00 2.67 0.00 0.000 4 0.000 0.064 2538 773 1475

12105 1.11 320.6 24.6 7.1 581 12112 0.00 2.60 0.00 0.000 6 0.000 0.054 2538 2201 1475

12356 end climb: SURFACE_DEPTH_REACHED

state 12357 begin surface coast

12378 end surface coast: CONTROL_FINISHED_OK

state 12379 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	101	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	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	2781	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	-2095042.5	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	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	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	224508,6201.828,-910.452,28,1.8,28,-9.5	TGT_NAME	B1
_CALLS	1	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.078,-0.207
_SM_DEPTHo	1.08	KALMAN_X	-169428.7,1444.0,648.0,-43831.6,-26201.1
_SM_ANGLEo	-54.9	KALMAN_Y	-26646.4,-4609.0,-1614.2,170450.6,56827.2
GPS2	225014,6201.871,-910.573,14,1.8,31,-9.5	MHEAD_RNG_PITCHd_Wd	178.1,29044,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.027201	ALTIM_BOTTOM_PING	425.6,65.9
SM_CCo	12400,115.55,0.631,0,0,508,557.32	_24V_AH	23.6,19.808
SM_GC	1.03,0.00,0.00,115.55,0.000,0.000,0.631,66,2307,508,-10.28,0.23,557.32	_10V_AH	10.1,10.083
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31716,595
TT8_MAMPS	0.023777	CAP_FILE_SIZE	98358,0
HUMID	1882	CFSIZE	260165632,251854848
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	33	GPS	290608,022102,6203.527,-911.470,41,1.8,41,-9.5
ALTIM_TOP_PING	18.5,17.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	162	96.22	SBE_CT	436	24	247.29
Roll_motor	129	93	285.15	SBE_O2	403	19	180.83
VBD_pump_during_apogee	411	977	9495.91	WL_BB2F	432	105	1072.71
VBD_pump_during_surface	115	631	1721.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.12	nil	0	0	0.00
Iridium_during_connect	27	160	105.43	nil	0	0	0.00
Iridium_during_xfer	130	223	685.80
Transponder_ping	12	420	118.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.70
TT8	1121	19	224.20
LPSleep	9221	2	203.96
TT8_Active	676	19	135.23
TT8_Sampling	1407	39	565.79
TT8_CF8	400	45	185.17
TT8_Kalman	33	81	27.56
Analog_circuits	1407	12	170.63
GPS_charging	0	0	0.00
Compass	1356	8	109.59
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-121.12	0.000	2	0.000	0.000	71	2304	2950
150	-0.85	-146.6	3.8	-3.2	6	180	11.25	2.67	-10.25	0.000	4	0.163	0.074	2109	880	3380
427	-0.72	-146.6	38.8	-11.0	18	433	0.17	2.65	0.00	0.000	6	0.092	0.058	2142	2302	3381
744	-0.64	-146.6	68.1	-9.3	33	748	0.00	2.67	0.00	0.000	4	0.000	0.063	2142	874	3380
810	-0.64	-146.6	74.6	-9.6	36	814	0.00	2.65	0.00	0.000	6	0.000	0.057	2142	2300	3381
1131	-0.58	-146.6	100.4	-7.7	52	1136	0.15	2.67	0.00	0.000	4	0.093	0.064	2175	877	3381
1204	-0.64	-146.6	105.1	-6.1	55	1209	0.00	2.65	0.00	0.000	6	0.000	0.056	2175	2304	3381
1522	-0.64	-146.6	124.3	-5.9	70	1526	0.00	2.67	0.00	0.000	4	0.000	0.065	2175	879	3381
1555	-0.70	-146.6	126.4	-5.6	71	1562	0.12	2.62	0.00	0.000	6	0.044	0.058	2131	2301	3382
1871	-0.61	-146.6	154.5	-9.8	87	1877	0.15	2.67	0.00	0.000	4	0.083	0.066	2167	877	3382
1956	-0.61	-146.6	161.6	-7.9	91	1961	0.00	2.62	0.00	0.000	6	0.000	0.058	2167	2300	3382
2283	-0.61	-146.6	187.8	-7.8	107	2284	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2300	3382
2593	-0.61	-146.6	211.8	-7.9	122	2597	0.00	2.67	0.00	0.000	4	0.000	0.067	2166	876	3382
2620	-0.65	-146.6	214.1	-8.4	123	2624	0.00	2.65	0.00	0.000	6	0.000	0.058	2167	2302	3382
2936	-0.65	-146.6	237.3	-7.3	138	2940	0.00	2.67	0.00	0.000	4	0.000	0.069	2167	878	3382
2976	-0.71	-146.6	240.2	-7.4	140	2980	0.00	2.62	0.00	0.000	6	0.000	0.059	2167	2300	3382
3302	-0.71	-146.6	267.8	-8.9	156	3303	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2300	3382
3612	-0.71	-146.6	294.5	-8.7	171	3616	0.00	2.67	0.00	0.000	4	0.000	0.069	2167	879	3382
3639	-0.75	-146.6	296.9	-8.4	172	3645	0.15	2.62	0.00	0.000	6	0.043	0.060	2119	2301	3382
3955	-0.62	-146.6	329.8	-10.1	187	3960	0.17	2.67	0.00	0.000	4	0.083	0.070	2159	880	3382
4023	-0.66	-146.6	335.3	-7.8	190	4027	0.00	2.65	0.00	0.000	6	0.000	0.061	2159	2302	3382
4344	-0.66	-146.6	359.3	-7.8	206	4345	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2303	3382
4653	-0.66	-146.6	381.7	-6.8	221	4654	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2303	3381
4966	-0.66	-146.6	401.1	-5.9	236	4970	0.00	2.70	0.00	0.000	4	0.000	0.073	2159	881	3381
5028	-0.74	-146.6	405.4	-6.0	239	5033	0.00	2.65	0.00	0.000	6	0.000	0.063	2160	2301	3381
5354	-0.74	-146.6	429.0	-8.1	255	5356	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2302	3381
5663	-0.74	-146.6	452.2	-7.1	270	5668	0.00	2.72	0.00	0.000	4	0.000	0.076	2159	881	3380
5713	-0.80	-146.6	455.8	-6.1	272	5718	0.15	2.67	0.00	0.000	6	0.046	0.066	2115	2300	3380
6006	end dive: BOTTOM_OBSTACLE_DETECTED
state	6006	begin apogee
6013	-0.31	0.0	482.3	9.5	286	6148	0.57	0.00	128.88	0.977	6	0.089	0.000	2232	2192	2781
6149	end apogee: CONTROL_FINISHED_OK
state	6149	begin climb
6152	0.85	146.6	490.4	0.0	293	6288	1.15	2.80	127.20	0.965	4	0.067	0.076	2481	792	2183
6340	0.92	259.2	489.5	2.9	302	6446	0.00	2.67	97.95	0.955	6	0.000	0.063	2481	2202	1724
6774	1.04	280.8	459.9	5.4	323	6800	0.17	2.78	19.55	0.898	4	0.054	0.077	2531	785	1636
6904	1.04	280.8	450.9	8.2	329	6909	0.00	2.67	0.00	0.000	6	0.000	0.064	2531	2199	1634
7231	1.06	297.9	430.8	5.5	345	7251	0.00	0.00	15.95	0.890	6	0.000	0.000	2531	2198	1566
7561	1.06	297.9	407.9	7.0	361	7565	0.00	2.72	0.00	0.000	4	0.000	0.081	2531	789	1565
7582	1.06	297.9	406.3	7.2	362	7586	0.00	2.67	0.00	0.000	6	0.000	0.066	2531	2199	1564
7903	1.07	309.2	385.7	5.7	378	7919	0.00	2.85	10.80	0.856	4	0.000	0.094	2531	3619	1520
7943	1.08	320.6	383.7	5.7	379	7963	0.00	2.72	11.45	0.854	6	0.000	0.073	2531	2206	1473
8272	1.08	320.6	363.5	7.5	395	8277	0.00	2.75	0.00	0.000	4	0.000	0.079	2531	778	1472
8294	1.08	320.6	361.6	8.7	396	8298	0.00	2.70	0.00	0.000	6	0.000	0.062	2531	2205	1471
8615	1.08	320.6	334.6	8.0	412	8619	0.00	2.75	0.00	0.000	4	0.000	0.074	2531	777	1471
8647	1.08	320.6	331.9	8.2	413	8653	0.00	2.67	0.00	0.000	6	0.000	0.061	2531	2203	1471
8963	1.08	320.6	302.1	10.1	429	8964	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2203	1471
9272	1.08	320.6	273.5	8.7	444	9277	0.00	2.75	0.00	0.000	4	0.000	0.086	2531	3619	1471
9317	1.08	320.6	269.4	9.6	446	9321	0.00	2.70	0.00	0.000	6	0.000	0.068	2531	2199	1471
9637	1.08	320.6	243.4	8.0	462	9642	0.00	2.70	0.00	0.000	4	0.000	0.072	2531	773	1471
9665	1.08	320.6	241.1	7.7	463	9669	0.00	2.65	0.00	0.000	6	0.000	0.057	2531	2201	1471
9980	1.08	320.6	216.8	7.6	478	9982	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2201	1471
10289	1.08	320.6	191.4	8.7	493	10294	0.00	2.70	0.00	0.000	4	0.000	0.069	2531	772	1472
10329	1.12	320.6	187.9	9.0	495	10334	0.00	2.65	0.00	0.000	6	0.000	0.055	2531	2205	1472
10656	1.12	320.6	157.8	9.2	511	10660	0.00	2.70	0.00	0.000	4	0.000	0.081	2531	3614	1472
10696	1.17	320.6	154.3	9.7	513	10701	0.10	2.65	0.00	0.000	6	0.054	0.064	2564	2199	1473
11023	1.11	320.6	124.5	8.1	529	11028	0.12	2.67	0.00	0.000	4	0.084	0.068	2538	772	1473
11063	1.11	320.6	121.2	7.5	531	11068	0.00	2.65	0.00	0.000	6	0.000	0.054	2538	2206	1473
11390	1.11	320.6	92.2	9.6	547	11392	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2205	1473
11700	1.11	320.6	60.2	10.6	562	11704	0.00	2.67	0.00	0.000	4	0.000	0.067	2538	779	1473
11732	1.11	320.6	56.5	10.5	563	11739	0.00	2.60	0.00	0.000	6	0.000	0.054	2538	2202	1474
12050	1.11	320.6	28.9	7.8	579	12054	0.00	2.67	0.00	0.000	4	0.000	0.064	2538	773	1475
12105	1.11	320.6	24.6	7.1	581	12112	0.00	2.60	0.00	0.000	6	0.000	0.054	2538	2201	1475
12356	end climb: SURFACE_DEPTH_REACHED
state	12357	begin surface coast
12378	end surface coast: CONTROL_FINISHED_OK
state	12379	begin surface