Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 102 * 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 102 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 13 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 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 -2095056.8 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 -2095056.8

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 13 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 102 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 022102,6203.527,-911.470,41,1.8,41,-9.5 TGT_NAME B1

_CALLS 2 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.078,-0.207

_SM_DEPTHo 1.06 KALMAN_X -170826.7,2582.6,380.9,-44275.7,-28422.5

_SM_ANGLEo -52.3 KALMAN_Y -22646.9,-4143.9,-2128.3,169833.2,62027.8

GPS2 022803,6203.676,-911.627,13,1.8,13,-9.5 MHEAD_RNG_PITCHd_Wd 177.6,32503,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.014657 ALTIM_BOTTOM_PING 426.0,51.5

SM_CCo 12007,103.15,0.630,0,0,509,557.32 _24V_AH 23.6,19.957

SM_GC 1.10,0.00,0.00,103.15,0.000,0.000,0.630,71,2303,509,-10.25,0.11,557.32 _10V_AH 10.1,10.146

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28543,576

TT8_MAMPS 0.02301 CAP_FILE_SIZE 93438,0

HUMID 1867 CFSIZE 260165632,251817984

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 31 GPS 290608,055207,6205.971,-909.867,40,1.5,40,-9.5

ALTIM_TOP_PING 18.3,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 166 96.43 SBE_CT 423 24 239.70

Roll_motor 118 95 266.15 SBE_O2 390 19 174.90

VBD_pump_during_apogee 427 980 9894.34 WL_BB2F 417 105 1034.23

VBD_pump_during_surface 103 629 1532.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.70 nil 0 0 0.00

Iridium_during_connect 53 160 200.51 nil 0 0 0.00

Iridium_during_xfer 158 223 835.44

Transponder_ping 11 420 116.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.86

TT8 1076 19 215.20

LPSleep 8993 2 198.92

TT8_Active 665 19 133.10

TT8_Sampling 1337 39 537.78

TT8_CF8 467 45 216.49

TT8_Kalman 33 81 27.56

Analog_circuits 1378 12 167.06

GPS_charging 0 0 0.00

Compass 1304 8 105.40

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 0 146 0.00 0.00 -120.97 0.000 2 0.000 0.000 64 2307 2907

150 -0.85 -146.6 3.5 -2.9 6 180 11.40 2.75 -11.88 0.000 4 0.166 0.081 2109 881 3381

411 -0.70 -146.6 35.9 -10.2 17 418 0.17 2.62 0.00 0.000 6 0.094 0.057 2143 2300 3381

727 -0.62 -146.6 62.7 -8.2 33 732 0.10 2.67 0.00 0.000 4 0.100 0.063 2162 877 3381

800 -0.62 -146.6 67.9 -6.0 36 804 0.00 2.65 0.00 0.000 6 0.000 0.055 2162 2305 3381

1116 -0.62 -146.6 93.8 -8.8 51 1120 0.00 2.70 0.00 0.000 4 0.000 0.065 2162 868 3381

1155 -0.62 -146.6 97.4 -9.4 53 1160 0.00 2.65 0.00 0.000 6 0.000 0.056 2162 2300 3381

1482 -0.62 -146.6 126.6 -9.3 69 1486 0.00 2.67 0.00 0.000 4 0.000 0.066 2162 874 3382

1537 -0.62 -146.6 132.4 -10.2 71 1543 0.00 2.62 0.00 0.000 6 0.000 0.057 2162 2301 3382

1853 -0.62 -146.6 160.3 -7.4 87 1857 0.00 2.67 0.00 0.000 4 0.000 0.067 2162 877 3382

1897 -0.62 -146.6 163.5 -7.2 89 1901 0.00 2.62 0.00 0.000 6 0.000 0.058 2162 2306 3382

2217 -0.62 -146.6 186.3 -7.2 105 2218 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2307 3382

2527 -0.62 -146.6 209.7 -7.3 120 2531 0.00 2.70 0.00 0.000 4 0.000 0.068 2162 869 3382

2559 -0.62 -146.6 212.1 -7.1 121 2565 0.00 2.65 0.00 0.000 6 0.000 0.058 2162 2300 3382

2875 -0.62 -146.6 233.7 -6.4 137 2879 0.00 2.67 0.00 0.000 4 0.000 0.068 2162 877 3382

2908 -0.62 -146.6 235.8 -6.5 138 2914 0.00 2.65 0.00 0.000 6 0.000 0.058 2162 2304 3382

3223 -0.62 -146.6 257.4 -7.3 154 3228 0.00 2.70 0.00 0.000 4 0.000 0.069 2162 872 3382

3290 -0.62 -146.6 262.6 -7.8 157 3294 0.00 2.65 0.00 0.000 6 0.000 0.058 2161 2298 3382

3611 -0.62 -146.6 287.4 -8.1 173 3612 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2299 3382

3920 -0.62 -146.6 313.0 -7.9 188 3921 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2299 3382

4229 -0.62 -146.6 337.7 -8.0 203 4233 0.00 2.67 0.00 0.000 4 0.000 0.070 2162 877 3382

4295 -0.62 -146.6 342.7 -8.0 206 4300 0.00 2.65 0.00 0.000 6 0.000 0.061 2162 2302 3382

4616 -0.62 -146.6 364.6 -6.4 222 4618 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2302 3381

4926 -0.62 -146.6 384.3 -6.5 237 4927 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2301 3381

5235 -0.62 -146.6 403.5 -6.2 252 5240 0.00 2.70 0.00 0.000 4 0.000 0.074 2162 878 3381

5263 -0.67 -146.6 405.3 -7.3 253 5268 0.00 2.65 0.00 0.000 6 0.000 0.064 2161 2299 3381

5583 -0.67 -146.6 426.0 -6.5 268 5584 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2299 3381

5888 -0.67 -146.6 444.9 -6.6 283 5889 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2299 3380

6198 -0.72 -146.6 463.8 -4.3 298 6202 0.00 2.70 0.00 0.000 4 0.000 0.079 2162 880 3379

6248 -0.77 -146.6 466.8 -4.5 300 6254 0.15 2.70 0.00 0.000 6 0.051 0.069 2120 2304 3378

6273 end dive: BOTTOM_OBSTACLE_DETECTED

state 6273 begin apogee

6281 -0.31 0.0 468.6 6.0 301 6415 0.52 0.00 128.15 0.981 6 0.070 0.000 2232 2194 2782

6416 end apogee: CONTROL_FINISHED_OK

state 6416 begin climb

6419 0.85 146.6 469.5 0.0 308 6555 1.15 2.78 126.97 0.963 4 0.071 0.074 2479 784 2182

6722 0.98 266.5 459.2 2.7 322 6833 0.15 2.70 104.25 0.946 6 0.056 0.064 2517 2204 1692

7155 0.93 266.5 425.0 6.6 343 7159 0.00 2.80 0.00 0.000 4 0.000 0.095 2517 3615 1691

7194 0.88 266.5 421.9 9.1 345 7200 0.12 2.72 0.00 0.000 6 0.100 0.072 2493 2197 1691

7522 0.88 266.5 402.5 8.6 361 7523 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2197 1691

7831 0.88 266.5 373.5 9.2 376 7835 0.00 2.83 0.00 0.000 4 0.000 0.094 2493 3618 1689

7870 0.88 266.5 369.8 10.1 378 7874 0.00 2.72 0.00 0.000 6 0.000 0.073 2493 2197 1689

8196 0.88 266.5 339.1 10.0 394 8197 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2196 1688

8506 0.88 266.5 315.7 7.0 409 8510 0.00 2.70 0.00 0.000 4 0.000 0.077 2493 782 1686

8527 0.88 266.5 314.1 7.1 410 8532 0.00 2.67 0.00 0.000 6 0.000 0.061 2493 2204 1686

8848 0.95 328.1 294.8 4.3 426 8909 0.00 2.88 51.38 0.883 4 0.000 0.086 2493 3615 1443

8934 1.05 346.3 290.6 5.5 430 8956 0.15 2.72 16.62 0.826 6 0.050 0.067 2532 2194 1369

9265 1.05 346.3 261.2 9.4 446 9269 0.00 2.67 0.00 0.000 4 0.000 0.073 2533 781 1368

9315 1.05 346.3 256.3 9.7 448 9319 0.00 2.65 0.00 0.000 6 0.000 0.057 2532 2201 1369

9630 1.05 346.3 225.6 10.2 463 9631 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2201 1369

9939 1.05 346.3 194.6 10.4 478 9944 0.00 2.70 0.00 0.000 4 0.000 0.069 2533 780 1369

9967 1.05 346.3 191.7 10.7 479 9972 0.00 2.65 0.00 0.000 6 0.000 0.055 2532 2206 1369

10282 1.05 346.3 158.3 11.1 494 10284 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2206 1370

10592 1.05 346.3 126.0 9.8 509 10597 0.00 2.70 0.00 0.000 4 0.000 0.068 2532 781 1370

10626 1.05 346.3 122.6 9.4 510 10632 0.00 2.62 0.00 0.000 6 0.000 0.054 2533 2205 1370

10943 1.05 346.3 90.8 9.6 526 10948 0.00 2.70 0.00 0.000 4 0.000 0.078 2532 3615 1370

10970 1.05 346.3 87.7 10.1 527 10974 0.00 2.65 0.00 0.000 6 0.000 0.062 2532 2200 1370

11286 1.05 346.3 59.2 9.0 542 11290 0.00 2.67 0.00 0.000 4 0.000 0.069 2532 776 1371

11319 1.05 346.3 55.9 9.7 543 11325 0.00 2.62 0.00 0.000 6 0.000 0.054 2533 2201 1371

11636 1.05 346.3 29.0 7.7 559 11641 0.00 2.67 0.00 0.000 4 0.000 0.066 2532 779 1371

11669 1.09 346.3 26.4 7.1 560 11675 0.00 2.60 0.00 0.000 6 0.000 0.054 2532 2202 1371

11962 end climb: SURFACE_DEPTH_REACHED

state 11962 begin surface coast

11985 end surface coast: CONTROL_FINISHED_OK

state 11985 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	102	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	13	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	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	-2095056.8	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	022102,6203.527,-911.470,41,1.8,41,-9.5	TGT_NAME	B1
_CALLS	2	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.078,-0.207
_SM_DEPTHo	1.06	KALMAN_X	-170826.7,2582.6,380.9,-44275.7,-28422.5
_SM_ANGLEo	-52.3	KALMAN_Y	-22646.9,-4143.9,-2128.3,169833.2,62027.8
GPS2	022803,6203.676,-911.627,13,1.8,13,-9.5	MHEAD_RNG_PITCHd_Wd	177.6,32503,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.014657	ALTIM_BOTTOM_PING	426.0,51.5
SM_CCo	12007,103.15,0.630,0,0,509,557.32	_24V_AH	23.6,19.957
SM_GC	1.10,0.00,0.00,103.15,0.000,0.000,0.630,71,2303,509,-10.25,0.11,557.32	_10V_AH	10.1,10.146
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28543,576
TT8_MAMPS	0.02301	CAP_FILE_SIZE	93438,0
HUMID	1867	CFSIZE	260165632,251817984
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	31	GPS	290608,055207,6205.971,-909.867,40,1.5,40,-9.5
ALTIM_TOP_PING	18.3,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	166	96.43	SBE_CT	423	24	239.70
Roll_motor	118	95	266.15	SBE_O2	390	19	174.90
VBD_pump_during_apogee	427	980	9894.34	WL_BB2F	417	105	1034.23
VBD_pump_during_surface	103	629	1532.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.70	nil	0	0	0.00
Iridium_during_connect	53	160	200.51	nil	0	0	0.00
Iridium_during_xfer	158	223	835.44
Transponder_ping	11	420	116.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.86
TT8	1076	19	215.20
LPSleep	8993	2	198.92
TT8_Active	665	19	133.10
TT8_Sampling	1337	39	537.78
TT8_CF8	467	45	216.49
TT8_Kalman	33	81	27.56
Analog_circuits	1378	12	167.06
GPS_charging	0	0	0.00
Compass	1304	8	105.40
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	146	0.00	0.00	-120.97	0.000	2	0.000	0.000	64	2307	2907
150	-0.85	-146.6	3.5	-2.9	6	180	11.40	2.75	-11.88	0.000	4	0.166	0.081	2109	881	3381
411	-0.70	-146.6	35.9	-10.2	17	418	0.17	2.62	0.00	0.000	6	0.094	0.057	2143	2300	3381
727	-0.62	-146.6	62.7	-8.2	33	732	0.10	2.67	0.00	0.000	4	0.100	0.063	2162	877	3381
800	-0.62	-146.6	67.9	-6.0	36	804	0.00	2.65	0.00	0.000	6	0.000	0.055	2162	2305	3381
1116	-0.62	-146.6	93.8	-8.8	51	1120	0.00	2.70	0.00	0.000	4	0.000	0.065	2162	868	3381
1155	-0.62	-146.6	97.4	-9.4	53	1160	0.00	2.65	0.00	0.000	6	0.000	0.056	2162	2300	3381
1482	-0.62	-146.6	126.6	-9.3	69	1486	0.00	2.67	0.00	0.000	4	0.000	0.066	2162	874	3382
1537	-0.62	-146.6	132.4	-10.2	71	1543	0.00	2.62	0.00	0.000	6	0.000	0.057	2162	2301	3382
1853	-0.62	-146.6	160.3	-7.4	87	1857	0.00	2.67	0.00	0.000	4	0.000	0.067	2162	877	3382
1897	-0.62	-146.6	163.5	-7.2	89	1901	0.00	2.62	0.00	0.000	6	0.000	0.058	2162	2306	3382
2217	-0.62	-146.6	186.3	-7.2	105	2218	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2307	3382
2527	-0.62	-146.6	209.7	-7.3	120	2531	0.00	2.70	0.00	0.000	4	0.000	0.068	2162	869	3382
2559	-0.62	-146.6	212.1	-7.1	121	2565	0.00	2.65	0.00	0.000	6	0.000	0.058	2162	2300	3382
2875	-0.62	-146.6	233.7	-6.4	137	2879	0.00	2.67	0.00	0.000	4	0.000	0.068	2162	877	3382
2908	-0.62	-146.6	235.8	-6.5	138	2914	0.00	2.65	0.00	0.000	6	0.000	0.058	2162	2304	3382
3223	-0.62	-146.6	257.4	-7.3	154	3228	0.00	2.70	0.00	0.000	4	0.000	0.069	2162	872	3382
3290	-0.62	-146.6	262.6	-7.8	157	3294	0.00	2.65	0.00	0.000	6	0.000	0.058	2161	2298	3382
3611	-0.62	-146.6	287.4	-8.1	173	3612	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2299	3382
3920	-0.62	-146.6	313.0	-7.9	188	3921	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2299	3382
4229	-0.62	-146.6	337.7	-8.0	203	4233	0.00	2.67	0.00	0.000	4	0.000	0.070	2162	877	3382
4295	-0.62	-146.6	342.7	-8.0	206	4300	0.00	2.65	0.00	0.000	6	0.000	0.061	2162	2302	3382
4616	-0.62	-146.6	364.6	-6.4	222	4618	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2302	3381
4926	-0.62	-146.6	384.3	-6.5	237	4927	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2301	3381
5235	-0.62	-146.6	403.5	-6.2	252	5240	0.00	2.70	0.00	0.000	4	0.000	0.074	2162	878	3381
5263	-0.67	-146.6	405.3	-7.3	253	5268	0.00	2.65	0.00	0.000	6	0.000	0.064	2161	2299	3381
5583	-0.67	-146.6	426.0	-6.5	268	5584	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2299	3381
5888	-0.67	-146.6	444.9	-6.6	283	5889	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2299	3380
6198	-0.72	-146.6	463.8	-4.3	298	6202	0.00	2.70	0.00	0.000	4	0.000	0.079	2162	880	3379
6248	-0.77	-146.6	466.8	-4.5	300	6254	0.15	2.70	0.00	0.000	6	0.051	0.069	2120	2304	3378
6273	end dive: BOTTOM_OBSTACLE_DETECTED
state	6273	begin apogee
6281	-0.31	0.0	468.6	6.0	301	6415	0.52	0.00	128.15	0.981	6	0.070	0.000	2232	2194	2782
6416	end apogee: CONTROL_FINISHED_OK
state	6416	begin climb
6419	0.85	146.6	469.5	0.0	308	6555	1.15	2.78	126.97	0.963	4	0.071	0.074	2479	784	2182
6722	0.98	266.5	459.2	2.7	322	6833	0.15	2.70	104.25	0.946	6	0.056	0.064	2517	2204	1692
7155	0.93	266.5	425.0	6.6	343	7159	0.00	2.80	0.00	0.000	4	0.000	0.095	2517	3615	1691
7194	0.88	266.5	421.9	9.1	345	7200	0.12	2.72	0.00	0.000	6	0.100	0.072	2493	2197	1691
7522	0.88	266.5	402.5	8.6	361	7523	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2197	1691
7831	0.88	266.5	373.5	9.2	376	7835	0.00	2.83	0.00	0.000	4	0.000	0.094	2493	3618	1689
7870	0.88	266.5	369.8	10.1	378	7874	0.00	2.72	0.00	0.000	6	0.000	0.073	2493	2197	1689
8196	0.88	266.5	339.1	10.0	394	8197	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2196	1688
8506	0.88	266.5	315.7	7.0	409	8510	0.00	2.70	0.00	0.000	4	0.000	0.077	2493	782	1686
8527	0.88	266.5	314.1	7.1	410	8532	0.00	2.67	0.00	0.000	6	0.000	0.061	2493	2204	1686
8848	0.95	328.1	294.8	4.3	426	8909	0.00	2.88	51.38	0.883	4	0.000	0.086	2493	3615	1443
8934	1.05	346.3	290.6	5.5	430	8956	0.15	2.72	16.62	0.826	6	0.050	0.067	2532	2194	1369
9265	1.05	346.3	261.2	9.4	446	9269	0.00	2.67	0.00	0.000	4	0.000	0.073	2533	781	1368
9315	1.05	346.3	256.3	9.7	448	9319	0.00	2.65	0.00	0.000	6	0.000	0.057	2532	2201	1369
9630	1.05	346.3	225.6	10.2	463	9631	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2201	1369
9939	1.05	346.3	194.6	10.4	478	9944	0.00	2.70	0.00	0.000	4	0.000	0.069	2533	780	1369
9967	1.05	346.3	191.7	10.7	479	9972	0.00	2.65	0.00	0.000	6	0.000	0.055	2532	2206	1369
10282	1.05	346.3	158.3	11.1	494	10284	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2206	1370
10592	1.05	346.3	126.0	9.8	509	10597	0.00	2.70	0.00	0.000	4	0.000	0.068	2532	781	1370
10626	1.05	346.3	122.6	9.4	510	10632	0.00	2.62	0.00	0.000	6	0.000	0.054	2533	2205	1370
10943	1.05	346.3	90.8	9.6	526	10948	0.00	2.70	0.00	0.000	4	0.000	0.078	2532	3615	1370
10970	1.05	346.3	87.7	10.1	527	10974	0.00	2.65	0.00	0.000	6	0.000	0.062	2532	2200	1370
11286	1.05	346.3	59.2	9.0	542	11290	0.00	2.67	0.00	0.000	4	0.000	0.069	2532	776	1371
11319	1.05	346.3	55.9	9.7	543	11325	0.00	2.62	0.00	0.000	6	0.000	0.054	2533	2201	1371
11636	1.05	346.3	29.0	7.7	559	11641	0.00	2.67	0.00	0.000	4	0.000	0.066	2532	779	1371
11669	1.09	346.3	26.4	7.1	560	11675	0.00	2.60	0.00	0.000	6	0.000	0.054	2532	2202	1371
11962	end climb: SURFACE_DEPTH_REACHED
state	11962	begin surface coast
11985	end surface coast: CONTROL_FINISHED_OK
state	11985	begin surface