Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 104 * 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 104 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 -2095085.9 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 -2095085.9

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 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 104 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 093037,6206.656,-909.242,42,1.1,42,-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 0.205,-0.085

_SM_DEPTHo 0.95 KALMAN_X -165093.0,1038.2,194.8,-46175.3,-13605.1

_SM_ANGLEo -49.1 KALMAN_Y -18589.0,-3125.7,-1689.5,169906.5,55841.9

GPS2 093820,6206.688,-909.307,13,1.1,13,-9.5 MHEAD_RNG_PITCHd_Wd 182.4,37676,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.026068 ALTIM_BOTTOM_PING 426.4,39.9

SM_CCo 11412,86.43,0.634,0,0,509,557.32 _24V_AH 23.7,20.245

SM_GC 1.08,0.00,0.00,86.43,0.000,0.000,0.634,72,2307,509,-10.24,0.20,557.32 _10V_AH 10.1,10.273

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28564,548

TT8_MAMPS 0.023777 CAP_FILE_SIZE 95831,0

HUMID 1882 CFSIZE 260165632,251715584

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 20 GPS 290608,125227,6206.795,-911.161,35,3.4,54,-9.5

ALTIM_TOP_PING 18.3,17.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 161 96.27 SBE_CT 404 24 230.18

Roll_motor 123 85 251.49 SBE_O2 370 19 166.85

VBD_pump_during_apogee 457 964 10449.70 WL_BB2F 389 105 970.14

VBD_pump_during_surface 86 633 1297.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.01 nil 0 0 0.00

Iridium_during_connect 55 160 209.60 nil 0 0 0.00

Iridium_during_xfer 193 223 1024.03

Transponder_ping 8 420 87.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.03

TT8 1040 19 208.16

LPSleep 8444 2 186.77

TT8_Active 691 19 138.21

TT8_Sampling 1282 39 515.69

TT8_CF8 511 45 236.46

TT8_Kalman 33 81 27.56

Analog_circuits 1380 12 167.37

GPS_charging 0 0 0.00

Compass 1252 8 101.17

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.65 0.000 2 0.000 0.000 72 2317 2899

150 -0.85 -146.6 3.4 -2.9 6 180 11.20 2.72 -12.52 0.000 4 0.162 0.074 2108 880 3381

405 -0.70 -146.6 36.1 -12.4 17 411 0.20 2.65 0.00 0.000 6 0.094 0.058 2147 2298 3381

723 -0.62 -146.6 69.0 -9.0 32 724 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2298 3381

1031 -0.55 -146.6 97.3 -8.8 47 1036 0.15 2.67 0.00 0.000 4 0.099 0.063 2180 872 3381

1072 -0.63 -146.6 100.4 -6.6 49 1076 0.00 2.65 0.00 0.000 6 0.000 0.057 2180 2301 3381

1398 -0.63 -146.6 122.9 -6.8 65 1403 0.00 2.70 0.00 0.000 4 0.000 0.079 2180 3712 3382

1442 -0.68 -146.6 126.4 -7.7 67 1448 0.12 2.60 0.00 0.000 6 0.051 0.054 2143 2289 3381

1764 -0.60 -146.6 154.5 -8.8 83 1769 0.12 2.62 0.00 0.000 4 0.088 0.066 2168 883 3382

1865 -0.66 -146.6 162.9 -7.7 87 1871 0.00 2.62 0.00 0.000 6 0.000 0.057 2168 2300 3382

2180 -0.66 -146.6 190.2 -8.8 103 2185 0.00 2.65 0.00 0.000 4 0.000 0.066 2168 883 3381

2208 -0.70 -146.6 192.6 -8.5 104 2213 0.00 2.62 0.00 0.000 6 0.000 0.058 2168 2304 3382

2524 -0.70 -146.6 216.3 -6.9 119 2528 0.00 2.67 0.00 0.000 4 0.000 0.066 2168 879 3382

2564 -0.75 -146.6 218.9 -6.2 121 2569 0.15 2.65 0.00 0.000 6 0.042 0.058 2121 2305 3382

2891 -0.62 -146.6 248.2 -9.0 137 2893 0.20 0.00 0.00 0.000 6 0.084 0.000 2162 2305 3382

3201 -0.62 -146.6 266.7 -5.4 152 3205 0.00 2.67 0.00 0.000 4 0.000 0.068 2162 883 3382

3256 -0.62 -146.6 269.5 -5.2 154 3262 0.00 2.62 0.00 0.000 6 0.000 0.059 2161 2298 3382

3572 -0.62 -146.6 283.3 -4.4 170 3573 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2299 3382

3881 -0.62 -146.6 297.2 -4.3 185 3886 0.00 2.67 0.00 0.000 4 0.000 0.069 2162 878 3381

3932 -0.62 -146.6 299.5 -4.6 187 3936 0.00 2.65 0.00 0.000 6 0.000 0.061 2162 2307 3382

4247 -0.62 -146.6 316.5 -5.3 202 4252 0.00 2.70 0.00 0.000 4 0.000 0.069 2162 877 3381

4304 -0.66 -146.6 319.8 -6.1 204 4310 0.00 2.65 0.00 0.000 6 0.000 0.061 2162 2300 3381

4619 -0.66 -146.6 342.1 -7.8 220 4623 0.00 2.72 0.00 0.000 4 0.000 0.086 2162 3713 3381

4663 -0.66 -146.6 345.9 -9.1 222 4667 0.00 2.62 0.00 0.000 6 0.000 0.060 2162 2296 3381

4984 -0.66 -146.6 368.7 -6.1 238 4988 0.00 2.67 0.00 0.000 4 0.000 0.072 2162 877 3381

5051 -0.73 -146.6 372.5 -5.0 241 5055 0.00 2.65 0.00 0.000 6 0.000 0.061 2162 2304 3381

5372 -0.73 -146.6 391.8 -5.6 257 5376 0.00 2.67 0.00 0.000 4 0.000 0.071 2162 885 3381

5405 -0.80 -146.6 393.9 -6.5 258 5411 0.17 2.65 0.00 0.000 6 0.044 0.062 2110 2300 3381

5721 -0.66 -146.6 424.7 -10.5 274 5723 0.22 0.00 0.00 0.000 6 0.086 0.000 2155 2300 3381

6030 -0.66 -146.6 447.9 -7.6 289 6034 0.00 2.70 0.00 0.000 4 0.000 0.074 2154 882 3379

6063 -0.70 -146.6 451.1 -9.9 290 6069 0.00 2.65 0.00 0.000 6 0.000 0.067 2155 2302 3379

6128 end dive: BOTTOM_OBSTACLE_DETECTED

state 6128 begin apogee

6135 -0.31 0.0 457.3 9.3 294 6271 0.38 0.00 127.72 0.964 6 0.091 0.000 2231 2194 2782

6272 end apogee: CONTROL_FINISHED_OK

state 6272 begin climb

6275 0.85 146.6 462.6 0.0 301 6410 1.15 2.83 127.18 0.943 4 0.071 0.076 2480 787 2183

6457 0.94 236.8 456.1 3.5 309 6546 0.12 2.67 78.53 0.929 6 0.057 0.062 2516 2197 1814

6854 0.94 236.8 427.0 6.7 329 6855 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2197 1813

7163 0.94 236.8 405.1 7.3 344 7164 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2197 1811

7473 0.99 279.4 388.0 4.8 359 7516 0.00 2.83 36.35 0.913 4 0.000 0.077 2516 789 1642

7536 1.07 348.1 385.1 4.1 362 7600 0.00 2.70 58.97 0.921 6 0.000 0.062 2516 2199 1361

7932 1.16 380.6 366.8 5.1 381 7967 0.15 2.80 28.58 0.899 4 0.057 0.079 2558 789 1228

8006 1.16 380.6 360.9 8.2 384 8011 0.00 2.67 0.00 0.000 6 0.000 0.061 2558 2200 1228

8322 1.16 380.6 334.2 8.7 399 8326 0.00 2.75 0.00 0.000 4 0.000 0.084 2558 3620 1227

8361 1.16 380.6 330.7 10.0 401 8366 0.00 2.72 0.00 0.000 6 0.000 0.071 2558 2206 1227

8688 1.16 380.6 299.6 10.1 417 8692 0.00 2.75 0.00 0.000 4 0.000 0.075 2558 774 1226

8765 1.16 380.6 290.8 11.8 420 8771 0.00 2.65 0.00 0.000 6 0.000 0.056 2558 2202 1226

9081 1.16 380.6 257.9 9.8 436 9082 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2201 1226

9390 1.16 380.6 227.4 10.2 451 9395 0.00 2.70 0.00 0.000 4 0.000 0.071 2558 781 1226

9436 1.16 380.6 222.5 11.3 453 9441 0.00 2.62 0.00 0.000 6 0.000 0.054 2559 2203 1226

9757 1.16 380.6 183.9 12.3 469 9762 0.00 2.70 0.00 0.000 4 0.000 0.070 2558 780 1227

9797 1.16 380.6 179.0 12.7 471 9802 0.00 2.62 0.00 0.000 6 0.000 0.052 2558 2207 1227

10125 1.16 380.6 138.4 12.1 487 10129 0.00 2.70 0.00 0.000 4 0.000 0.069 2558 778 1228

10164 1.16 380.6 133.7 12.8 489 10169 0.00 2.62 0.00 0.000 6 0.000 0.052 2558 2206 1228

10491 1.16 380.6 94.0 12.3 505 10496 0.00 2.70 0.00 0.000 4 0.000 0.069 2558 779 1228

10540 1.16 380.6 87.4 13.3 507 10545 0.00 2.62 0.00 0.000 6 0.000 0.051 2558 2207 1228

10857 1.16 380.6 52.6 11.2 522 10861 0.00 2.70 0.00 0.000 4 0.000 0.068 2558 779 1229

10889 1.16 380.6 48.7 11.4 523 10896 0.00 2.60 0.00 0.000 6 0.000 0.051 2558 2207 1229

11206 1.16 380.6 16.3 9.4 539 11207 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 2207 1229

11369 end climb: SURFACE_DEPTH_REACHED

state 11369 begin surface coast

11389 end surface coast: CONTROL_FINISHED_OK

state 11389 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	104	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	-2095085.9	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	093037,6206.656,-909.242,42,1.1,42,-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	0.205,-0.085
_SM_DEPTHo	0.95	KALMAN_X	-165093.0,1038.2,194.8,-46175.3,-13605.1
_SM_ANGLEo	-49.1	KALMAN_Y	-18589.0,-3125.7,-1689.5,169906.5,55841.9
GPS2	093820,6206.688,-909.307,13,1.1,13,-9.5	MHEAD_RNG_PITCHd_Wd	182.4,37676,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.026068	ALTIM_BOTTOM_PING	426.4,39.9
SM_CCo	11412,86.43,0.634,0,0,509,557.32	_24V_AH	23.7,20.245
SM_GC	1.08,0.00,0.00,86.43,0.000,0.000,0.634,72,2307,509,-10.24,0.20,557.32	_10V_AH	10.1,10.273
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28564,548
TT8_MAMPS	0.023777	CAP_FILE_SIZE	95831,0
HUMID	1882	CFSIZE	260165632,251715584
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	20	GPS	290608,125227,6206.795,-911.161,35,3.4,54,-9.5
ALTIM_TOP_PING	18.3,17.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	161	96.27	SBE_CT	404	24	230.18
Roll_motor	123	85	251.49	SBE_O2	370	19	166.85
VBD_pump_during_apogee	457	964	10449.70	WL_BB2F	389	105	970.14
VBD_pump_during_surface	86	633	1297.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.01	nil	0	0	0.00
Iridium_during_connect	55	160	209.60	nil	0	0	0.00
Iridium_during_xfer	193	223	1024.03
Transponder_ping	8	420	87.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.03
TT8	1040	19	208.16
LPSleep	8444	2	186.77
TT8_Active	691	19	138.21
TT8_Sampling	1282	39	515.69
TT8_CF8	511	45	236.46
TT8_Kalman	33	81	27.56
Analog_circuits	1380	12	167.37
GPS_charging	0	0	0.00
Compass	1252	8	101.17
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.65	0.000	2	0.000	0.000	72	2317	2899
150	-0.85	-146.6	3.4	-2.9	6	180	11.20	2.72	-12.52	0.000	4	0.162	0.074	2108	880	3381
405	-0.70	-146.6	36.1	-12.4	17	411	0.20	2.65	0.00	0.000	6	0.094	0.058	2147	2298	3381
723	-0.62	-146.6	69.0	-9.0	32	724	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2298	3381
1031	-0.55	-146.6	97.3	-8.8	47	1036	0.15	2.67	0.00	0.000	4	0.099	0.063	2180	872	3381
1072	-0.63	-146.6	100.4	-6.6	49	1076	0.00	2.65	0.00	0.000	6	0.000	0.057	2180	2301	3381
1398	-0.63	-146.6	122.9	-6.8	65	1403	0.00	2.70	0.00	0.000	4	0.000	0.079	2180	3712	3382
1442	-0.68	-146.6	126.4	-7.7	67	1448	0.12	2.60	0.00	0.000	6	0.051	0.054	2143	2289	3381
1764	-0.60	-146.6	154.5	-8.8	83	1769	0.12	2.62	0.00	0.000	4	0.088	0.066	2168	883	3382
1865	-0.66	-146.6	162.9	-7.7	87	1871	0.00	2.62	0.00	0.000	6	0.000	0.057	2168	2300	3382
2180	-0.66	-146.6	190.2	-8.8	103	2185	0.00	2.65	0.00	0.000	4	0.000	0.066	2168	883	3381
2208	-0.70	-146.6	192.6	-8.5	104	2213	0.00	2.62	0.00	0.000	6	0.000	0.058	2168	2304	3382
2524	-0.70	-146.6	216.3	-6.9	119	2528	0.00	2.67	0.00	0.000	4	0.000	0.066	2168	879	3382
2564	-0.75	-146.6	218.9	-6.2	121	2569	0.15	2.65	0.00	0.000	6	0.042	0.058	2121	2305	3382
2891	-0.62	-146.6	248.2	-9.0	137	2893	0.20	0.00	0.00	0.000	6	0.084	0.000	2162	2305	3382
3201	-0.62	-146.6	266.7	-5.4	152	3205	0.00	2.67	0.00	0.000	4	0.000	0.068	2162	883	3382
3256	-0.62	-146.6	269.5	-5.2	154	3262	0.00	2.62	0.00	0.000	6	0.000	0.059	2161	2298	3382
3572	-0.62	-146.6	283.3	-4.4	170	3573	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2299	3382
3881	-0.62	-146.6	297.2	-4.3	185	3886	0.00	2.67	0.00	0.000	4	0.000	0.069	2162	878	3381
3932	-0.62	-146.6	299.5	-4.6	187	3936	0.00	2.65	0.00	0.000	6	0.000	0.061	2162	2307	3382
4247	-0.62	-146.6	316.5	-5.3	202	4252	0.00	2.70	0.00	0.000	4	0.000	0.069	2162	877	3381
4304	-0.66	-146.6	319.8	-6.1	204	4310	0.00	2.65	0.00	0.000	6	0.000	0.061	2162	2300	3381
4619	-0.66	-146.6	342.1	-7.8	220	4623	0.00	2.72	0.00	0.000	4	0.000	0.086	2162	3713	3381
4663	-0.66	-146.6	345.9	-9.1	222	4667	0.00	2.62	0.00	0.000	6	0.000	0.060	2162	2296	3381
4984	-0.66	-146.6	368.7	-6.1	238	4988	0.00	2.67	0.00	0.000	4	0.000	0.072	2162	877	3381
5051	-0.73	-146.6	372.5	-5.0	241	5055	0.00	2.65	0.00	0.000	6	0.000	0.061	2162	2304	3381
5372	-0.73	-146.6	391.8	-5.6	257	5376	0.00	2.67	0.00	0.000	4	0.000	0.071	2162	885	3381
5405	-0.80	-146.6	393.9	-6.5	258	5411	0.17	2.65	0.00	0.000	6	0.044	0.062	2110	2300	3381
5721	-0.66	-146.6	424.7	-10.5	274	5723	0.22	0.00	0.00	0.000	6	0.086	0.000	2155	2300	3381
6030	-0.66	-146.6	447.9	-7.6	289	6034	0.00	2.70	0.00	0.000	4	0.000	0.074	2154	882	3379
6063	-0.70	-146.6	451.1	-9.9	290	6069	0.00	2.65	0.00	0.000	6	0.000	0.067	2155	2302	3379
6128	end dive: BOTTOM_OBSTACLE_DETECTED
state	6128	begin apogee
6135	-0.31	0.0	457.3	9.3	294	6271	0.38	0.00	127.72	0.964	6	0.091	0.000	2231	2194	2782
6272	end apogee: CONTROL_FINISHED_OK
state	6272	begin climb
6275	0.85	146.6	462.6	0.0	301	6410	1.15	2.83	127.18	0.943	4	0.071	0.076	2480	787	2183
6457	0.94	236.8	456.1	3.5	309	6546	0.12	2.67	78.53	0.929	6	0.057	0.062	2516	2197	1814
6854	0.94	236.8	427.0	6.7	329	6855	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2197	1813
7163	0.94	236.8	405.1	7.3	344	7164	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2197	1811
7473	0.99	279.4	388.0	4.8	359	7516	0.00	2.83	36.35	0.913	4	0.000	0.077	2516	789	1642
7536	1.07	348.1	385.1	4.1	362	7600	0.00	2.70	58.97	0.921	6	0.000	0.062	2516	2199	1361
7932	1.16	380.6	366.8	5.1	381	7967	0.15	2.80	28.58	0.899	4	0.057	0.079	2558	789	1228
8006	1.16	380.6	360.9	8.2	384	8011	0.00	2.67	0.00	0.000	6	0.000	0.061	2558	2200	1228
8322	1.16	380.6	334.2	8.7	399	8326	0.00	2.75	0.00	0.000	4	0.000	0.084	2558	3620	1227
8361	1.16	380.6	330.7	10.0	401	8366	0.00	2.72	0.00	0.000	6	0.000	0.071	2558	2206	1227
8688	1.16	380.6	299.6	10.1	417	8692	0.00	2.75	0.00	0.000	4	0.000	0.075	2558	774	1226
8765	1.16	380.6	290.8	11.8	420	8771	0.00	2.65	0.00	0.000	6	0.000	0.056	2558	2202	1226
9081	1.16	380.6	257.9	9.8	436	9082	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2201	1226
9390	1.16	380.6	227.4	10.2	451	9395	0.00	2.70	0.00	0.000	4	0.000	0.071	2558	781	1226
9436	1.16	380.6	222.5	11.3	453	9441	0.00	2.62	0.00	0.000	6	0.000	0.054	2559	2203	1226
9757	1.16	380.6	183.9	12.3	469	9762	0.00	2.70	0.00	0.000	4	0.000	0.070	2558	780	1227
9797	1.16	380.6	179.0	12.7	471	9802	0.00	2.62	0.00	0.000	6	0.000	0.052	2558	2207	1227
10125	1.16	380.6	138.4	12.1	487	10129	0.00	2.70	0.00	0.000	4	0.000	0.069	2558	778	1228
10164	1.16	380.6	133.7	12.8	489	10169	0.00	2.62	0.00	0.000	6	0.000	0.052	2558	2206	1228
10491	1.16	380.6	94.0	12.3	505	10496	0.00	2.70	0.00	0.000	4	0.000	0.069	2558	779	1228
10540	1.16	380.6	87.4	13.3	507	10545	0.00	2.62	0.00	0.000	6	0.000	0.051	2558	2207	1228
10857	1.16	380.6	52.6	11.2	522	10861	0.00	2.70	0.00	0.000	4	0.000	0.068	2558	779	1229
10889	1.16	380.6	48.7	11.4	523	10896	0.00	2.60	0.00	0.000	6	0.000	0.051	2558	2207	1229
11206	1.16	380.6	16.3	9.4	539	11207	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	2207	1229
11369	end climb: SURFACE_DEPTH_REACHED
state	11369	begin surface coast
11389	end surface coast: CONTROL_FINISHED_OK
state	11389	begin surface