Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 105 * 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 105 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 24 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 -2095102.2 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 -2095102.2

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 24 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 105 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 125227,6206.795,-911.161,35,3.4,54,-9.5 TGT_NAME B1

_CALLS 2 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.074,-0.209

_SM_DEPTHo 1.10 KALMAN_X -172655.2,172.0,818.5,-40095.9,-25837.6

_SM_ANGLEo -56.1 KALMAN_Y -20649.3,-4635.3,-1769.9,173979.5,53457.7

GPS2 130033,6206.916,-911.262,15,2.0,15,-9.5 MHEAD_RNG_PITCHd_Wd 180.0,38340,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027179 ALTIM_BOTTOM_PING 426.3,53.6

SM_CCo 11481,92.00,0.627,0,0,508,557.32 _24V_AH 23.7,20.400

SM_GC 1.12,0.00,0.00,92.00,0.000,0.000,0.627,70,2303,508,-10.26,0.08,557.32 _10V_AH 10.1,10.336

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28494,546

TT8_MAMPS 0.02301 CAP_FILE_SIZE 96375,0

HUMID 1861 CFSIZE 260165632,251674624

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

XPDR_PINGS 28 GPS 290608,161538,6208.941,-912.025,40,1.4,40,-9.6

ALTIM_TOP_PING 18.5,17.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 161 95.98 SBE_CT 402 24 228.71

Roll_motor 123 86 254.14 SBE_O2 369 19 166.54

VBD_pump_during_apogee 449 968 10312.47 WL_BB2F 401 105 999.82

VBD_pump_during_surface 92 627 1368.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 51 103 125.21 nil 0 0 0.00

Iridium_during_connect 53 160 203.39 nil 0 0 0.00

Iridium_during_xfer 201 223 1066.64

Transponder_ping 11 420 109.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.92

TT8 1044 19 208.97

LPSleep 8497 2 187.96

TT8_Active 663 19 132.78

TT8_Sampling 1325 39 532.89

TT8_CF8 534 45 247.40

TT8_Kalman 33 81 27.56

Analog_circuits 1379 12 167.17

GPS_charging 0 0 0.00

Compass 1287 8 104.05

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

22 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.85 -146.6 0.0 0.0 0 148 0.00 0.00 -120.68 0.000 2 0.000 0.000 71 2310 2854

152 -0.85 -146.6 3.2 -2.5 6 184 11.23 2.70 -14.38 0.000 4 0.162 0.076 2109 876 3380

439 -0.72 -146.6 35.3 -10.8 19 444 0.17 2.62 0.00 0.000 6 0.099 0.054 2143 2294 3380

766 -0.63 -146.6 66.1 -9.6 35 767 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2294 3380

1075 -0.55 -146.6 91.8 -8.0 50 1080 0.15 2.67 0.00 0.000 4 0.101 0.064 2175 868 3381

1161 -0.60 -146.6 98.2 -7.4 54 1166 0.00 2.65 0.00 0.000 6 0.000 0.052 2174 2303 3381

1490 -0.60 -146.6 123.9 -8.2 70 1491 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2304 3381

1798 -0.60 -146.6 149.6 -8.6 85 1802 0.00 2.65 0.00 0.000 4 0.000 0.065 2175 878 3381

1843 -0.67 -146.6 153.4 -8.5 87 1848 0.00 2.60 0.00 0.000 6 0.000 0.054 2174 2299 3381

2170 -0.67 -146.6 181.1 -8.4 103 2171 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2299 3381

2479 -0.67 -146.6 207.4 -8.2 118 2481 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2299 3381

2788 -0.67 -146.6 230.8 -6.8 133 2793 0.00 2.67 0.00 0.000 4 0.000 0.067 2174 872 3381

2839 -0.74 -146.6 234.1 -6.1 135 2844 0.17 2.65 0.00 0.000 6 0.041 0.054 2119 2305 3381

3155 -0.60 -146.6 260.7 -8.4 150 3160 0.20 2.70 0.00 0.000 4 0.084 0.069 2164 879 3381

3189 -0.65 -146.6 263.3 -6.1 151 3195 0.00 2.62 0.00 0.000 6 0.000 0.055 2164 2302 3381

3504 -0.65 -146.6 284.6 -7.0 167 3505 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2301 3381

3814 -0.65 -146.6 305.8 -6.8 182 3818 0.00 2.67 0.00 0.000 4 0.000 0.068 2164 878 3381

3858 -0.70 -146.6 309.3 -7.7 184 3862 0.00 2.62 0.00 0.000 6 0.000 0.056 2164 2300 3381

4178 -0.70 -146.6 337.4 -9.5 200 4183 0.00 2.67 0.00 0.000 4 0.000 0.068 2164 878 3381

4219 -0.74 -146.6 341.4 -9.8 202 4224 0.12 2.62 0.00 0.000 6 0.047 0.057 2122 2303 3381

4548 -0.63 -146.6 378.7 -10.3 218 4553 0.15 2.70 0.00 0.000 4 0.086 0.079 2156 3711 3381

4598 -0.63 -146.6 383.8 -9.3 220 4603 0.00 2.62 0.00 0.000 6 0.000 0.059 2156 2295 3381

4914 -0.63 -146.6 404.9 -5.2 235 4918 0.00 2.67 0.00 0.000 4 0.000 0.071 2156 878 3381

4981 -0.70 -146.6 408.3 -4.9 238 4985 0.00 2.65 0.00 0.000 6 0.000 0.058 2156 2302 3381

5302 -0.70 -146.6 424.9 -6.3 254 5303 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2302 3381

5611 -0.70 -146.6 444.3 -7.0 269 5612 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2302 3381

5920 -0.70 -146.6 463.7 -4.6 284 5925 0.00 2.72 0.00 0.000 4 0.000 0.074 2156 876 3380

5965 -0.70 -146.6 467.3 -7.9 286 5969 0.00 2.67 0.00 0.000 6 0.000 0.064 2156 2304 3379

6015 end dive: BOTTOM_OBSTACLE_DETECTED

state 6015 begin apogee

6022 -0.31 0.0 470.4 5.8 289 6158 0.38 0.00 128.82 0.969 6 0.107 0.000 2229 2196 2781

6159 end apogee: CONTROL_FINISHED_OK

state 6159 begin climb

6162 0.85 146.6 476.0 0.0 296 6298 1.20 2.83 126.55 0.957 4 0.087 0.074 2480 788 2182

6465 0.92 180.6 464.3 5.1 310 6500 0.00 2.67 30.58 0.919 6 0.000 0.061 2480 2206 2044

6814 1.00 186.9 446.4 5.8 326 6828 0.15 2.83 6.72 0.770 4 0.052 0.086 2526 3614 2019

6868 0.88 186.9 441.6 9.0 328 6874 0.17 2.72 0.00 0.000 6 0.094 0.068 2492 2199 2019

7184 0.98 278.2 425.3 3.5 343 7269 0.00 2.83 78.70 0.950 4 0.000 0.076 2491 784 1647

7299 1.14 368.3 420.9 3.5 348 7385 0.25 2.70 77.80 0.933 6 0.048 0.061 2554 2203 1279

7701 1.14 368.3 396.0 6.4 368 7705 0.00 2.78 0.00 0.000 4 0.000 0.087 2554 3617 1277

7733 1.14 368.3 393.4 8.4 369 7739 0.00 2.72 0.00 0.000 6 0.000 0.071 2552 2200 1278

8049 1.14 368.3 366.4 10.0 385 8053 0.00 2.78 0.00 0.000 4 0.000 0.084 2554 3621 1275

8076 1.14 368.3 363.4 11.3 386 8080 0.00 2.70 0.00 0.000 6 0.000 0.069 2554 2200 1276

8392 1.14 368.3 328.5 11.7 401 8396 0.00 2.70 0.00 0.000 4 0.000 0.077 2554 782 1275

8469 1.14 368.3 318.7 12.3 404 8475 0.00 2.65 0.00 0.000 6 0.000 0.055 2556 2206 1275

8785 1.14 368.3 281.3 11.8 420 8789 0.00 2.72 0.00 0.000 4 0.000 0.071 2554 773 1275

8812 1.14 368.3 278.0 11.6 421 8816 0.00 2.65 0.00 0.000 6 0.000 0.054 2554 2203 1275

9128 1.14 368.3 243.5 10.8 436 9132 0.00 2.72 0.00 0.000 4 0.000 0.070 2554 774 1275

9155 1.14 368.3 240.5 11.0 437 9159 0.00 2.62 0.00 0.000 6 0.000 0.052 2554 2201 1275

9470 1.14 368.3 207.6 10.4 452 9475 0.00 2.70 0.00 0.000 4 0.000 0.069 2554 780 1276

9498 1.14 368.3 204.4 11.1 453 9502 0.00 2.62 0.00 0.000 6 0.000 0.051 2554 2204 1276

9813 1.14 368.3 170.6 11.1 468 9818 0.00 2.70 0.00 0.000 4 0.000 0.068 2554 780 1276

9840 1.14 368.3 167.5 11.1 469 9845 0.00 2.62 0.00 0.000 6 0.000 0.051 2554 2205 1276

10156 1.14 368.3 134.0 10.6 484 10158 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2205 1277

10467 1.14 368.3 100.8 10.7 499 10472 0.00 2.70 0.00 0.000 4 0.000 0.068 2554 776 1277

10517 1.14 368.3 94.9 11.0 501 10521 0.00 2.62 0.00 0.000 6 0.000 0.051 2554 2209 1277

10834 1.14 368.3 60.8 11.3 516 10839 0.00 2.67 0.00 0.000 4 0.000 0.067 2554 781 1278

10879 1.14 368.3 56.0 9.8 518 10883 0.00 2.60 0.00 0.000 6 0.000 0.051 2554 2204 1278

11200 1.14 368.3 23.7 9.9 534 11204 0.00 2.67 0.00 0.000 4 0.000 0.066 2554 781 1278

11227 1.14 368.3 20.9 9.7 535 11231 0.00 2.60 0.00 0.000 6 0.000 0.051 2554 2204 1278

11437 end climb: SURFACE_DEPTH_REACHED

state 11437 begin surface coast

11459 end surface coast: CONTROL_FINISHED_OK

state 11459 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	105	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	24	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	-2095102.2	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	125227,6206.795,-911.161,35,3.4,54,-9.5	TGT_NAME	B1
_CALLS	2	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.074,-0.209
_SM_DEPTHo	1.10	KALMAN_X	-172655.2,172.0,818.5,-40095.9,-25837.6
_SM_ANGLEo	-56.1	KALMAN_Y	-20649.3,-4635.3,-1769.9,173979.5,53457.7
GPS2	130033,6206.916,-911.262,15,2.0,15,-9.5	MHEAD_RNG_PITCHd_Wd	180.0,38340,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.027179	ALTIM_BOTTOM_PING	426.3,53.6
SM_CCo	11481,92.00,0.627,0,0,508,557.32	_24V_AH	23.7,20.400
SM_GC	1.12,0.00,0.00,92.00,0.000,0.000,0.627,70,2303,508,-10.26,0.08,557.32	_10V_AH	10.1,10.336
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28494,546
TT8_MAMPS	0.02301	CAP_FILE_SIZE	96375,0
HUMID	1861	CFSIZE	260165632,251674624
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	28	GPS	290608,161538,6208.941,-912.025,40,1.4,40,-9.6
ALTIM_TOP_PING	18.5,17.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	161	95.98	SBE_CT	402	24	228.71
Roll_motor	123	86	254.14	SBE_O2	369	19	166.54
VBD_pump_during_apogee	449	968	10312.47	WL_BB2F	401	105	999.82
VBD_pump_during_surface	92	627	1368.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	51	103	125.21	nil	0	0	0.00
Iridium_during_connect	53	160	203.39	nil	0	0	0.00
Iridium_during_xfer	201	223	1066.64
Transponder_ping	11	420	109.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.92
TT8	1044	19	208.97
LPSleep	8497	2	187.96
TT8_Active	663	19	132.78
TT8_Sampling	1325	39	532.89
TT8_CF8	534	45	247.40
TT8_Kalman	33	81	27.56
Analog_circuits	1379	12	167.17
GPS_charging	0	0	0.00
Compass	1287	8	104.05
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
22	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.85	-146.6	0.0	0.0	0	148	0.00	0.00	-120.68	0.000	2	0.000	0.000	71	2310	2854
152	-0.85	-146.6	3.2	-2.5	6	184	11.23	2.70	-14.38	0.000	4	0.162	0.076	2109	876	3380
439	-0.72	-146.6	35.3	-10.8	19	444	0.17	2.62	0.00	0.000	6	0.099	0.054	2143	2294	3380
766	-0.63	-146.6	66.1	-9.6	35	767	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2294	3380
1075	-0.55	-146.6	91.8	-8.0	50	1080	0.15	2.67	0.00	0.000	4	0.101	0.064	2175	868	3381
1161	-0.60	-146.6	98.2	-7.4	54	1166	0.00	2.65	0.00	0.000	6	0.000	0.052	2174	2303	3381
1490	-0.60	-146.6	123.9	-8.2	70	1491	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2304	3381
1798	-0.60	-146.6	149.6	-8.6	85	1802	0.00	2.65	0.00	0.000	4	0.000	0.065	2175	878	3381
1843	-0.67	-146.6	153.4	-8.5	87	1848	0.00	2.60	0.00	0.000	6	0.000	0.054	2174	2299	3381
2170	-0.67	-146.6	181.1	-8.4	103	2171	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2299	3381
2479	-0.67	-146.6	207.4	-8.2	118	2481	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2299	3381
2788	-0.67	-146.6	230.8	-6.8	133	2793	0.00	2.67	0.00	0.000	4	0.000	0.067	2174	872	3381
2839	-0.74	-146.6	234.1	-6.1	135	2844	0.17	2.65	0.00	0.000	6	0.041	0.054	2119	2305	3381
3155	-0.60	-146.6	260.7	-8.4	150	3160	0.20	2.70	0.00	0.000	4	0.084	0.069	2164	879	3381
3189	-0.65	-146.6	263.3	-6.1	151	3195	0.00	2.62	0.00	0.000	6	0.000	0.055	2164	2302	3381
3504	-0.65	-146.6	284.6	-7.0	167	3505	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2301	3381
3814	-0.65	-146.6	305.8	-6.8	182	3818	0.00	2.67	0.00	0.000	4	0.000	0.068	2164	878	3381
3858	-0.70	-146.6	309.3	-7.7	184	3862	0.00	2.62	0.00	0.000	6	0.000	0.056	2164	2300	3381
4178	-0.70	-146.6	337.4	-9.5	200	4183	0.00	2.67	0.00	0.000	4	0.000	0.068	2164	878	3381
4219	-0.74	-146.6	341.4	-9.8	202	4224	0.12	2.62	0.00	0.000	6	0.047	0.057	2122	2303	3381
4548	-0.63	-146.6	378.7	-10.3	218	4553	0.15	2.70	0.00	0.000	4	0.086	0.079	2156	3711	3381
4598	-0.63	-146.6	383.8	-9.3	220	4603	0.00	2.62	0.00	0.000	6	0.000	0.059	2156	2295	3381
4914	-0.63	-146.6	404.9	-5.2	235	4918	0.00	2.67	0.00	0.000	4	0.000	0.071	2156	878	3381
4981	-0.70	-146.6	408.3	-4.9	238	4985	0.00	2.65	0.00	0.000	6	0.000	0.058	2156	2302	3381
5302	-0.70	-146.6	424.9	-6.3	254	5303	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2302	3381
5611	-0.70	-146.6	444.3	-7.0	269	5612	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2302	3381
5920	-0.70	-146.6	463.7	-4.6	284	5925	0.00	2.72	0.00	0.000	4	0.000	0.074	2156	876	3380
5965	-0.70	-146.6	467.3	-7.9	286	5969	0.00	2.67	0.00	0.000	6	0.000	0.064	2156	2304	3379
6015	end dive: BOTTOM_OBSTACLE_DETECTED
state	6015	begin apogee
6022	-0.31	0.0	470.4	5.8	289	6158	0.38	0.00	128.82	0.969	6	0.107	0.000	2229	2196	2781
6159	end apogee: CONTROL_FINISHED_OK
state	6159	begin climb
6162	0.85	146.6	476.0	0.0	296	6298	1.20	2.83	126.55	0.957	4	0.087	0.074	2480	788	2182
6465	0.92	180.6	464.3	5.1	310	6500	0.00	2.67	30.58	0.919	6	0.000	0.061	2480	2206	2044
6814	1.00	186.9	446.4	5.8	326	6828	0.15	2.83	6.72	0.770	4	0.052	0.086	2526	3614	2019
6868	0.88	186.9	441.6	9.0	328	6874	0.17	2.72	0.00	0.000	6	0.094	0.068	2492	2199	2019
7184	0.98	278.2	425.3	3.5	343	7269	0.00	2.83	78.70	0.950	4	0.000	0.076	2491	784	1647
7299	1.14	368.3	420.9	3.5	348	7385	0.25	2.70	77.80	0.933	6	0.048	0.061	2554	2203	1279
7701	1.14	368.3	396.0	6.4	368	7705	0.00	2.78	0.00	0.000	4	0.000	0.087	2554	3617	1277
7733	1.14	368.3	393.4	8.4	369	7739	0.00	2.72	0.00	0.000	6	0.000	0.071	2552	2200	1278
8049	1.14	368.3	366.4	10.0	385	8053	0.00	2.78	0.00	0.000	4	0.000	0.084	2554	3621	1275
8076	1.14	368.3	363.4	11.3	386	8080	0.00	2.70	0.00	0.000	6	0.000	0.069	2554	2200	1276
8392	1.14	368.3	328.5	11.7	401	8396	0.00	2.70	0.00	0.000	4	0.000	0.077	2554	782	1275
8469	1.14	368.3	318.7	12.3	404	8475	0.00	2.65	0.00	0.000	6	0.000	0.055	2556	2206	1275
8785	1.14	368.3	281.3	11.8	420	8789	0.00	2.72	0.00	0.000	4	0.000	0.071	2554	773	1275
8812	1.14	368.3	278.0	11.6	421	8816	0.00	2.65	0.00	0.000	6	0.000	0.054	2554	2203	1275
9128	1.14	368.3	243.5	10.8	436	9132	0.00	2.72	0.00	0.000	4	0.000	0.070	2554	774	1275
9155	1.14	368.3	240.5	11.0	437	9159	0.00	2.62	0.00	0.000	6	0.000	0.052	2554	2201	1275
9470	1.14	368.3	207.6	10.4	452	9475	0.00	2.70	0.00	0.000	4	0.000	0.069	2554	780	1276
9498	1.14	368.3	204.4	11.1	453	9502	0.00	2.62	0.00	0.000	6	0.000	0.051	2554	2204	1276
9813	1.14	368.3	170.6	11.1	468	9818	0.00	2.70	0.00	0.000	4	0.000	0.068	2554	780	1276
9840	1.14	368.3	167.5	11.1	469	9845	0.00	2.62	0.00	0.000	6	0.000	0.051	2554	2205	1276
10156	1.14	368.3	134.0	10.6	484	10158	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2205	1277
10467	1.14	368.3	100.8	10.7	499	10472	0.00	2.70	0.00	0.000	4	0.000	0.068	2554	776	1277
10517	1.14	368.3	94.9	11.0	501	10521	0.00	2.62	0.00	0.000	6	0.000	0.051	2554	2209	1277
10834	1.14	368.3	60.8	11.3	516	10839	0.00	2.67	0.00	0.000	4	0.000	0.067	2554	781	1278
10879	1.14	368.3	56.0	9.8	518	10883	0.00	2.60	0.00	0.000	6	0.000	0.051	2554	2204	1278
11200	1.14	368.3	23.7	9.9	534	11204	0.00	2.67	0.00	0.000	4	0.000	0.066	2554	781	1278
11227	1.14	368.3	20.9	9.7	535	11231	0.00	2.60	0.00	0.000	6	0.000	0.051	2554	2204	1278
11437	end climb: SURFACE_DEPTH_REACHED
state	11437	begin surface coast
11459	end surface coast: CONTROL_FINISHED_OK
state	11459	begin surface