Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 110 * 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 110 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 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 -2095214.1 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 -2095214.1

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 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 110 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 065208,6214.914,-904.709,29,1.4,29,-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 0.015,-0.221

_SM_DEPTHo 1.03 KALMAN_X -167162.5,-291.7,419.5,-38741.9,-6668.7

_SM_ANGLEo -54.6 KALMAN_Y -4733.4,-3884.4,-1738.5,172208.3,53905.5

GPS2 065707,6214.982,-904.631,17,1.6,27,-9.5 MHEAD_RNG_PITCHd_Wd 188.9,52752,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027235 ALTIM_BOTTOM_PING 375.1,79.6

SM_CCo 12034,153.75,0.626,0,0,508,557.32 _24V_AH 23.7,21.122

SM_GC 1.04,0.00,0.00,153.75,0.000,0.000,0.626,66,2307,508,-10.27,0.20,557.32 _10V_AH 10.2,10.659

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28649,576

TT8_MAMPS 0.023777 CAP_FILE_SIZE 94138,0

HUMID 1856 CFSIZE 260165632,251424768

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 3 GPS 300608,102226,6215.013,-902.224,40,2.0,40,-9.5

ALTIM_TOP_PING 18.5,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 164 97.41 SBE_CT 424 24 241.26

Roll_motor 118 82 231.66 SBE_O2 391 19 176.18

VBD_pump_during_apogee 333 923 7296.31 WL_BB2F 418 105 1041.62

VBD_pump_during_surface 153 625 2280.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.02 nil 0 0 0.00

Iridium_during_connect 27 160 102.91 nil 0 0 0.00

Iridium_during_xfer 126 223 666.84

Transponder_ping 3 420 37.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 27 50 14.03

TT8 1086 19 219.52

LPSleep 9071 2 202.64

TT8_Active 650 19 131.39

TT8_Sampling 1293 39 524.98

TT8_CF8 390 45 182.25

TT8_Kalman 33 81 27.83

Analog_circuits 1320 12 161.67

GPS_charging 0 0 0.00

Compass 1254 8 102.36

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 -121.10 0.000 2 0.000 0.000 69 2310 2923

150 -0.85 -146.6 3.5 -3.0 6 175 11.30 0.00 -11.10 0.000 6 0.165 0.000 2106 2310 3379

483 -0.65 -146.6 49.3 -13.9 22 488 0.20 2.70 0.00 0.000 4 0.094 0.064 2150 877 3380

511 -0.60 -146.6 53.2 -12.0 23 515 0.00 2.65 0.00 0.000 6 0.000 0.055 2150 2303 3380

827 -0.54 -146.6 90.2 -11.4 38 832 0.15 2.67 0.00 0.000 4 0.095 0.062 2183 877 3380

913 -0.63 -146.6 98.7 -9.8 42 918 0.00 2.65 0.00 0.000 6 0.000 0.054 2183 2307 3380

1242 -0.68 -146.6 128.5 -9.2 58 1247 0.15 2.67 0.00 0.000 4 0.041 0.062 2129 881 3380

1282 -0.60 -146.6 133.5 -12.3 60 1288 0.20 2.65 0.00 0.000 6 0.080 0.057 2170 2303 3380

1610 -0.60 -146.6 163.5 -8.5 76 1614 0.00 2.67 0.00 0.000 4 0.000 0.066 2171 880 3381

1659 -0.65 -146.6 167.9 -8.4 78 1664 0.00 2.62 0.00 0.000 6 0.000 0.056 2170 2302 3381

1975 -0.65 -146.6 192.9 -7.8 93 1976 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2302 3381

2284 -0.65 -146.6 216.6 -7.4 108 2289 0.00 2.67 0.00 0.000 4 0.000 0.066 2171 880 3381

2348 -0.71 -146.6 221.3 -7.4 111 2353 0.12 2.62 0.00 0.000 6 0.046 0.058 2128 2300 3381

2675 -0.60 -146.6 248.7 -8.0 127 2677 0.20 0.00 0.00 0.000 6 0.083 0.000 2168 2300 3380

2984 -0.60 -146.6 264.3 -4.7 142 2988 0.00 2.67 0.00 0.000 4 0.000 0.067 2168 880 3381

3040 -0.65 -146.6 267.2 -5.5 144 3046 0.00 2.65 0.00 0.000 6 0.000 0.058 2168 2305 3381

3356 -0.65 -146.6 282.3 -4.7 160 3357 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2305 3381

3665 -0.65 -146.6 297.5 -5.0 175 3669 0.00 2.67 0.00 0.000 4 0.000 0.067 2169 881 3380

3715 -0.70 -146.6 300.2 -5.2 177 3720 0.00 2.62 0.00 0.000 6 0.000 0.058 2170 2301 3381

4031 -0.70 -146.6 316.7 -5.4 192 4036 0.00 2.67 0.00 0.000 4 0.000 0.068 2168 880 3380

4072 -0.75 -146.6 319.0 -5.9 194 4077 0.15 2.62 0.00 0.000 6 0.043 0.058 2121 2304 3380

4399 -0.63 -146.6 346.4 -8.8 210 4404 0.17 2.67 0.00 0.000 4 0.084 0.068 2159 881 3380

4467 -0.63 -146.6 351.5 -7.1 213 4472 0.00 2.62 0.00 0.000 6 0.000 0.058 2159 2300 3380

4789 -0.63 -146.6 374.3 -7.7 229 4793 0.00 2.67 0.00 0.000 4 0.000 0.069 2159 877 3380

4843 -0.67 -146.6 378.5 -7.6 231 4849 0.00 2.62 0.00 0.000 6 0.000 0.057 2159 2299 3380

5159 -0.67 -146.6 403.4 -8.1 247 5163 0.00 2.70 0.00 0.000 4 0.000 0.081 2157 3710 3380

5226 -0.67 -146.6 409.2 -8.7 250 5230 0.00 2.60 0.00 0.000 6 0.000 0.058 2159 2298 3380

5547 -0.67 -146.6 433.5 -7.0 266 5548 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2298 3380

5688 end dive: BOTTOM_OBSTACLE_DETECTED

state 5688 begin apogee

5695 -0.31 0.0 444.7 7.9 273 5826 0.35 0.00 127.68 0.923 6 0.092 0.000 2230 2189 2781

5826 end apogee: CONTROL_FINISHED_OK

state 5827 begin climb

5830 0.85 146.6 451.3 0.0 279 5965 1.17 2.85 125.72 0.916 4 0.073 0.081 2480 3616 2183

6046 0.85 146.6 447.8 6.1 289 6050 0.00 2.67 0.00 0.000 6 0.000 0.060 2480 2199 2183

6367 0.86 155.4 432.6 5.8 305 6381 0.00 2.75 9.30 0.787 4 0.000 0.072 2480 782 2147

6398 0.93 222.5 431.1 4.2 305 6466 0.10 2.65 58.20 0.900 6 0.075 0.057 2502 2197 1872

6775 0.93 222.5 407.4 6.5 324 6780 0.00 2.75 0.00 0.000 4 0.000 0.082 2502 3613 1872

6825 0.93 222.5 403.8 7.5 326 6830 0.00 2.67 0.00 0.000 6 0.000 0.062 2502 2200 1872

7141 0.93 222.5 384.7 6.1 341 7146 0.00 2.78 0.00 0.000 4 0.000 0.083 2502 3619 1871

7192 0.93 222.5 381.3 7.0 343 7196 0.00 2.67 0.00 0.000 6 0.000 0.064 2502 2200 1871

7507 0.93 222.5 361.4 6.1 358 7508 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2200 1870

7817 0.94 236.1 343.3 5.6 373 7835 0.00 0.00 12.48 0.799 6 0.000 0.000 2503 2200 1818

8145 0.94 236.1 321.3 7.2 389 8146 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2200 1818

8455 0.99 236.1 297.1 8.1 404 8456 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2200 1818

8763 0.99 236.1 272.3 8.1 419 8768 0.00 2.75 0.00 0.000 4 0.000 0.079 2502 3621 1818

8804 0.99 236.1 268.7 9.2 421 8809 0.00 2.65 0.00 0.000 6 0.000 0.060 2502 2199 1818

9131 1.03 236.1 241.4 8.5 437 9133 0.10 0.00 0.00 0.000 6 0.074 0.000 2525 2198 1818

9440 1.03 236.1 212.9 9.2 452 9445 0.00 2.72 0.00 0.000 4 0.000 0.079 2525 3623 1818

9474 0.99 236.1 209.6 9.7 453 9480 0.00 2.65 0.00 0.000 6 0.000 0.061 2526 2190 1818

9790 0.99 236.1 179.8 9.3 469 9794 0.00 2.72 0.00 0.000 4 0.000 0.078 2526 3616 1818

9811 0.99 236.1 177.7 9.6 470 9815 0.00 2.62 0.00 0.000 6 0.000 0.060 2526 2200 1818

10132 0.99 236.1 147.8 9.2 486 10133 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2200 1818

10441 0.99 236.1 120.4 8.6 501 10446 0.00 2.70 0.00 0.000 4 0.000 0.077 2526 3616 1818

10469 0.99 236.1 117.7 9.5 502 10473 0.00 2.62 0.00 0.000 6 0.000 0.059 2526 2195 1818

10786 0.99 236.1 91.2 8.4 517 10788 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2195 1818

11094 0.99 236.1 67.0 7.3 532 11098 0.00 2.72 0.00 0.000 4 0.000 0.077 2526 3622 1818

11160 0.99 236.1 61.6 8.3 535 11165 0.00 2.62 0.00 0.000 6 0.000 0.058 2526 2201 1819

11483 0.99 236.1 39.1 6.8 551 11488 0.00 2.65 0.00 0.000 4 0.000 0.067 2526 782 1818

11539 0.99 236.1 34.9 7.2 553 11546 0.00 2.62 0.00 0.000 6 0.000 0.054 2526 2204 1818

11855 0.99 236.1 12.6 7.0 569 11859 0.00 2.67 0.00 0.000 4 0.000 0.077 2526 3621 1818

11882 0.99 236.1 10.3 8.4 570 11887 0.00 2.62 0.00 0.000 6 0.000 0.059 2526 2199 1819

11989 end climb: SURFACE_DEPTH_REACHED

state 11989 begin surface coast

12013 end surface coast: CONTROL_FINISHED_OK

state 12013 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	110	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	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	-2095214.1	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	065208,6214.914,-904.709,29,1.4,29,-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	0.015,-0.221
_SM_DEPTHo	1.03	KALMAN_X	-167162.5,-291.7,419.5,-38741.9,-6668.7
_SM_ANGLEo	-54.6	KALMAN_Y	-4733.4,-3884.4,-1738.5,172208.3,53905.5
GPS2	065707,6214.982,-904.631,17,1.6,27,-9.5	MHEAD_RNG_PITCHd_Wd	188.9,52752,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027235	ALTIM_BOTTOM_PING	375.1,79.6
SM_CCo	12034,153.75,0.626,0,0,508,557.32	_24V_AH	23.7,21.122
SM_GC	1.04,0.00,0.00,153.75,0.000,0.000,0.626,66,2307,508,-10.27,0.20,557.32	_10V_AH	10.2,10.659
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28649,576
TT8_MAMPS	0.023777	CAP_FILE_SIZE	94138,0
HUMID	1856	CFSIZE	260165632,251424768
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	3	GPS	300608,102226,6215.013,-902.224,40,2.0,40,-9.5
ALTIM_TOP_PING	18.5,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	164	97.41	SBE_CT	424	24	241.26
Roll_motor	118	82	231.66	SBE_O2	391	19	176.18
VBD_pump_during_apogee	333	923	7296.31	WL_BB2F	418	105	1041.62
VBD_pump_during_surface	153	625	2280.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.02	nil	0	0	0.00
Iridium_during_connect	27	160	102.91	nil	0	0	0.00
Iridium_during_xfer	126	223	666.84
Transponder_ping	3	420	37.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	27	50	14.03
TT8	1086	19	219.52
LPSleep	9071	2	202.64
TT8_Active	650	19	131.39
TT8_Sampling	1293	39	524.98
TT8_CF8	390	45	182.25
TT8_Kalman	33	81	27.83
Analog_circuits	1320	12	161.67
GPS_charging	0	0	0.00
Compass	1254	8	102.36
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	-121.10	0.000	2	0.000	0.000	69	2310	2923
150	-0.85	-146.6	3.5	-3.0	6	175	11.30	0.00	-11.10	0.000	6	0.165	0.000	2106	2310	3379
483	-0.65	-146.6	49.3	-13.9	22	488	0.20	2.70	0.00	0.000	4	0.094	0.064	2150	877	3380
511	-0.60	-146.6	53.2	-12.0	23	515	0.00	2.65	0.00	0.000	6	0.000	0.055	2150	2303	3380
827	-0.54	-146.6	90.2	-11.4	38	832	0.15	2.67	0.00	0.000	4	0.095	0.062	2183	877	3380
913	-0.63	-146.6	98.7	-9.8	42	918	0.00	2.65	0.00	0.000	6	0.000	0.054	2183	2307	3380
1242	-0.68	-146.6	128.5	-9.2	58	1247	0.15	2.67	0.00	0.000	4	0.041	0.062	2129	881	3380
1282	-0.60	-146.6	133.5	-12.3	60	1288	0.20	2.65	0.00	0.000	6	0.080	0.057	2170	2303	3380
1610	-0.60	-146.6	163.5	-8.5	76	1614	0.00	2.67	0.00	0.000	4	0.000	0.066	2171	880	3381
1659	-0.65	-146.6	167.9	-8.4	78	1664	0.00	2.62	0.00	0.000	6	0.000	0.056	2170	2302	3381
1975	-0.65	-146.6	192.9	-7.8	93	1976	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2302	3381
2284	-0.65	-146.6	216.6	-7.4	108	2289	0.00	2.67	0.00	0.000	4	0.000	0.066	2171	880	3381
2348	-0.71	-146.6	221.3	-7.4	111	2353	0.12	2.62	0.00	0.000	6	0.046	0.058	2128	2300	3381
2675	-0.60	-146.6	248.7	-8.0	127	2677	0.20	0.00	0.00	0.000	6	0.083	0.000	2168	2300	3380
2984	-0.60	-146.6	264.3	-4.7	142	2988	0.00	2.67	0.00	0.000	4	0.000	0.067	2168	880	3381
3040	-0.65	-146.6	267.2	-5.5	144	3046	0.00	2.65	0.00	0.000	6	0.000	0.058	2168	2305	3381
3356	-0.65	-146.6	282.3	-4.7	160	3357	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2305	3381
3665	-0.65	-146.6	297.5	-5.0	175	3669	0.00	2.67	0.00	0.000	4	0.000	0.067	2169	881	3380
3715	-0.70	-146.6	300.2	-5.2	177	3720	0.00	2.62	0.00	0.000	6	0.000	0.058	2170	2301	3381
4031	-0.70	-146.6	316.7	-5.4	192	4036	0.00	2.67	0.00	0.000	4	0.000	0.068	2168	880	3380
4072	-0.75	-146.6	319.0	-5.9	194	4077	0.15	2.62	0.00	0.000	6	0.043	0.058	2121	2304	3380
4399	-0.63	-146.6	346.4	-8.8	210	4404	0.17	2.67	0.00	0.000	4	0.084	0.068	2159	881	3380
4467	-0.63	-146.6	351.5	-7.1	213	4472	0.00	2.62	0.00	0.000	6	0.000	0.058	2159	2300	3380
4789	-0.63	-146.6	374.3	-7.7	229	4793	0.00	2.67	0.00	0.000	4	0.000	0.069	2159	877	3380
4843	-0.67	-146.6	378.5	-7.6	231	4849	0.00	2.62	0.00	0.000	6	0.000	0.057	2159	2299	3380
5159	-0.67	-146.6	403.4	-8.1	247	5163	0.00	2.70	0.00	0.000	4	0.000	0.081	2157	3710	3380
5226	-0.67	-146.6	409.2	-8.7	250	5230	0.00	2.60	0.00	0.000	6	0.000	0.058	2159	2298	3380
5547	-0.67	-146.6	433.5	-7.0	266	5548	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2298	3380
5688	end dive: BOTTOM_OBSTACLE_DETECTED
state	5688	begin apogee
5695	-0.31	0.0	444.7	7.9	273	5826	0.35	0.00	127.68	0.923	6	0.092	0.000	2230	2189	2781
5826	end apogee: CONTROL_FINISHED_OK
state	5827	begin climb
5830	0.85	146.6	451.3	0.0	279	5965	1.17	2.85	125.72	0.916	4	0.073	0.081	2480	3616	2183
6046	0.85	146.6	447.8	6.1	289	6050	0.00	2.67	0.00	0.000	6	0.000	0.060	2480	2199	2183
6367	0.86	155.4	432.6	5.8	305	6381	0.00	2.75	9.30	0.787	4	0.000	0.072	2480	782	2147
6398	0.93	222.5	431.1	4.2	305	6466	0.10	2.65	58.20	0.900	6	0.075	0.057	2502	2197	1872
6775	0.93	222.5	407.4	6.5	324	6780	0.00	2.75	0.00	0.000	4	0.000	0.082	2502	3613	1872
6825	0.93	222.5	403.8	7.5	326	6830	0.00	2.67	0.00	0.000	6	0.000	0.062	2502	2200	1872
7141	0.93	222.5	384.7	6.1	341	7146	0.00	2.78	0.00	0.000	4	0.000	0.083	2502	3619	1871
7192	0.93	222.5	381.3	7.0	343	7196	0.00	2.67	0.00	0.000	6	0.000	0.064	2502	2200	1871
7507	0.93	222.5	361.4	6.1	358	7508	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2200	1870
7817	0.94	236.1	343.3	5.6	373	7835	0.00	0.00	12.48	0.799	6	0.000	0.000	2503	2200	1818
8145	0.94	236.1	321.3	7.2	389	8146	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2200	1818
8455	0.99	236.1	297.1	8.1	404	8456	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2200	1818
8763	0.99	236.1	272.3	8.1	419	8768	0.00	2.75	0.00	0.000	4	0.000	0.079	2502	3621	1818
8804	0.99	236.1	268.7	9.2	421	8809	0.00	2.65	0.00	0.000	6	0.000	0.060	2502	2199	1818
9131	1.03	236.1	241.4	8.5	437	9133	0.10	0.00	0.00	0.000	6	0.074	0.000	2525	2198	1818
9440	1.03	236.1	212.9	9.2	452	9445	0.00	2.72	0.00	0.000	4	0.000	0.079	2525	3623	1818
9474	0.99	236.1	209.6	9.7	453	9480	0.00	2.65	0.00	0.000	6	0.000	0.061	2526	2190	1818
9790	0.99	236.1	179.8	9.3	469	9794	0.00	2.72	0.00	0.000	4	0.000	0.078	2526	3616	1818
9811	0.99	236.1	177.7	9.6	470	9815	0.00	2.62	0.00	0.000	6	0.000	0.060	2526	2200	1818
10132	0.99	236.1	147.8	9.2	486	10133	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2200	1818
10441	0.99	236.1	120.4	8.6	501	10446	0.00	2.70	0.00	0.000	4	0.000	0.077	2526	3616	1818
10469	0.99	236.1	117.7	9.5	502	10473	0.00	2.62	0.00	0.000	6	0.000	0.059	2526	2195	1818
10786	0.99	236.1	91.2	8.4	517	10788	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2195	1818
11094	0.99	236.1	67.0	7.3	532	11098	0.00	2.72	0.00	0.000	4	0.000	0.077	2526	3622	1818
11160	0.99	236.1	61.6	8.3	535	11165	0.00	2.62	0.00	0.000	6	0.000	0.058	2526	2201	1819
11483	0.99	236.1	39.1	6.8	551	11488	0.00	2.65	0.00	0.000	4	0.000	0.067	2526	782	1818
11539	0.99	236.1	34.9	7.2	553	11546	0.00	2.62	0.00	0.000	6	0.000	0.054	2526	2204	1818
11855	0.99	236.1	12.6	7.0	569	11859	0.00	2.67	0.00	0.000	4	0.000	0.077	2526	3621	1818
11882	0.99	236.1	10.3	8.4	570	11887	0.00	2.62	0.00	0.000	6	0.000	0.059	2526	2199	1819
11989	end climb: SURFACE_DEPTH_REACHED
state	11989	begin surface coast
12013	end surface coast: CONTROL_FINISHED_OK
state	12013	begin surface