Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 111 * 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 111 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 19 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 -2095249 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 -2095249

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 19 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 111 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 102226,6215.013,-902.224,40,2.0,40,-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 0.011,-0.221

_SM_DEPTHo 0.97 KALMAN_X -166160.4,814.3,1108.0,-39382.1,-6857.9

_SM_ANGLEo -53.2 KALMAN_Y -4942.6,-2808.1,-1530.7,171259.9,51506.2

GPS2 102717,6215.048,-902.243,14,2.1,33,-9.5 MHEAD_RNG_PITCHd_Wd 191.2,52893,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027219 ALTIM_BOTTOM_PING 402.5,51.9

SM_CCo 12033,45.08,0.621,0,0,509,557.32 _24V_AH 23.7,21.272

SM_GC 1.16,0.00,0.00,45.08,0.000,0.000,0.621,64,2305,509,-10.28,0.14,557.32 _10V_AH 10.1,10.723

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28620,573

TT8_MAMPS 0.02301 CAP_FILE_SIZE 97485,0

HUMID 1871 CFSIZE 260165632,251375616

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 3 GPS 300608,135058,6213.745,-904.705,33,2.2,52,-9.5

ALTIM_TOP_PING 19.2,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 165 97.28 SBE_CT 421 24 239.47

Roll_motor 133 85 269.87 SBE_O2 387 19 174.60

VBD_pump_during_apogee 528 928 11630.54 WL_BB2F 421 105 1049.63

VBD_pump_during_surface 45 620 662.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.93 nil 0 0 0.00

Iridium_during_connect 27 160 106.15 nil 0 0 0.00

Iridium_during_xfer 116 223 617.95

Transponder_ping 4 420 42.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.26

TT8 1092 19 218.53

LPSleep 8753 2 193.63

TT8_Active 695 19 139.05

TT8_Sampling 1451 39 583.49

TT8_CF8 381 45 176.67

TT8_Kalman 33 81 27.56

Analog_circuits 1466 12 177.71

GPS_charging 0 0 0.00

Compass 1394 8 112.64

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 -121.25 0.000 2 0.000 0.000 65 2310 2903

150 -0.85 -146.6 3.4 -2.8 6 180 11.38 2.72 -12.32 0.000 4 0.166 0.085 2108 3709 3380

248 -0.65 -146.6 17.2 -11.3 10 254 0.25 2.60 0.00 0.000 6 0.093 0.055 2157 2298 3381

566 -0.65 -146.6 44.1 -8.2 25 570 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 883 3381

593 -0.65 -146.6 46.7 -8.5 26 597 0.00 2.65 0.00 0.000 6 0.000 0.057 2157 2305 3381

909 -0.65 -146.6 73.0 -8.3 41 913 0.00 2.70 0.00 0.000 4 0.000 0.077 2157 3715 3381

948 -0.65 -146.6 76.5 -8.6 43 953 0.00 2.60 0.00 0.000 6 0.000 0.055 2157 2292 3381

1276 -0.65 -146.6 101.9 -7.3 59 1280 0.00 2.72 0.00 0.000 4 0.000 0.079 2157 3712 3381

1315 -0.65 -146.6 105.1 -8.1 61 1320 0.00 2.58 0.00 0.000 6 0.000 0.056 2157 2297 3381

1642 -0.65 -146.6 127.9 -6.7 77 1647 0.00 2.65 0.00 0.000 4 0.000 0.068 2157 884 3381

1670 -0.65 -146.6 130.0 -7.4 78 1674 0.00 2.65 0.00 0.000 6 0.000 0.059 2157 2303 3381

1988 -0.65 -146.6 150.7 -6.6 93 1992 0.00 2.70 0.00 0.000 4 0.000 0.079 2157 3715 3381

2028 -0.65 -146.6 153.7 -7.3 95 2033 0.00 2.60 0.00 0.000 6 0.000 0.057 2157 2299 3381

2355 -0.65 -146.6 174.3 -6.1 111 2360 0.00 2.65 0.00 0.000 4 0.000 0.069 2157 881 3381

2474 -0.71 -146.6 181.5 -6.2 116 2478 0.00 2.62 0.00 0.000 6 0.000 0.058 2157 2300 3381

2792 -0.71 -146.6 200.2 -6.2 131 2796 0.00 2.70 0.00 0.000 4 0.000 0.080 2157 3712 3381

2831 -0.71 -146.6 203.1 -7.2 133 2835 0.00 2.60 0.00 0.000 6 0.000 0.058 2157 2300 3381

3158 -0.71 -146.6 225.2 -7.0 149 3159 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2299 3381

3466 -0.71 -146.6 246.2 -6.8 164 3467 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2300 3381

3776 -0.71 -146.6 265.1 -5.9 179 3780 0.00 2.72 0.00 0.000 4 0.000 0.082 2157 3712 3381

3809 -0.71 -146.6 267.3 -6.4 180 3815 0.00 2.60 0.00 0.000 6 0.000 0.058 2157 2300 3381

4125 -0.71 -146.6 286.8 -6.2 196 4126 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2299 3381

4434 -0.71 -146.6 307.3 -7.0 211 4436 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2299 3381

4744 -0.71 -146.6 333.9 -10.4 226 4748 0.00 2.65 0.00 0.000 4 0.000 0.068 2157 882 3381

5001 -0.71 -146.6 364.2 -13.1 237 5007 0.00 2.65 0.00 0.000 6 0.000 0.060 2157 2304 3381

5317 -0.71 -146.6 407.8 -13.1 253 5321 0.00 2.67 0.00 0.000 4 0.000 0.067 2157 880 3381

5413 -0.71 -146.6 418.9 -10.4 257 5417 0.00 2.65 0.00 0.000 6 0.000 0.059 2157 2307 3381

5706 end dive: BOTTOM_OBSTACLE_DETECTED

state 5706 begin apogee

5713 -0.31 0.0 444.8 8.3 271 5847 0.35 0.00 127.50 0.928 6 0.087 0.000 2228 2197 2781

5848 end apogee: CONTROL_FINISHED_OK

state 5848 begin climb

5851 0.85 146.6 450.5 0.0 278 5987 1.15 2.78 126.45 0.911 4 0.062 0.064 2480 785 2183

6176 0.86 162.7 443.1 5.6 293 6198 0.00 2.65 15.30 0.840 6 0.000 0.056 2480 2199 2117

6507 0.92 163.5 425.2 6.0 309 6512 0.00 2.75 0.00 0.000 4 0.000 0.084 2480 3616 2116

6593 0.97 163.5 420.1 6.5 313 6598 0.15 2.65 0.00 0.000 6 0.058 0.062 2516 2203 2116

6920 0.90 163.5 397.7 7.3 329 6924 0.00 2.70 0.00 0.000 4 0.000 0.072 2516 784 2116

6982 0.82 163.5 392.6 8.2 332 6988 0.17 2.65 0.00 0.000 6 0.082 0.058 2480 2200 2116

7310 0.88 174.1 371.0 5.7 348 7322 0.00 0.00 10.90 0.805 6 0.000 0.000 2481 2200 2072

7618 1.03 261.5 357.6 3.6 363 7702 0.17 2.83 75.07 0.884 4 0.047 0.082 2525 3616 1714

7736 1.03 261.5 351.0 6.6 368 7740 0.00 2.67 0.00 0.000 6 0.000 0.063 2525 2202 1715

8051 1.03 261.5 330.0 6.6 383 8055 0.00 2.70 0.00 0.000 4 0.000 0.071 2525 779 1714

8101 1.03 261.5 326.4 6.6 385 8105 0.00 2.65 0.00 0.000 6 0.000 0.055 2525 2203 1713

8417 1.09 322.6 309.3 4.3 400 8475 0.00 0.00 52.60 0.844 6 0.000 0.000 2525 2203 1465

8785 1.23 443.6 297.0 2.7 418 8894 0.17 2.78 101.62 0.836 4 0.068 0.070 2565 783 971

8929 1.25 464.7 289.4 5.4 425 8953 0.00 2.67 19.33 0.772 6 0.000 0.054 2565 2207 886

9281 1.25 464.7 267.0 7.0 442 9285 0.00 2.72 0.00 0.000 4 0.000 0.070 2565 781 885

9343 1.25 464.7 262.3 7.6 445 9347 0.00 2.65 0.00 0.000 6 0.000 0.054 2565 2202 886

9669 1.25 464.7 236.9 8.0 461 9674 0.00 2.70 0.00 0.000 4 0.000 0.069 2565 782 886

9719 1.25 464.7 232.4 9.2 463 9723 0.00 2.62 0.00 0.000 6 0.000 0.054 2566 2201 886

10035 1.25 464.7 203.9 9.4 478 10039 0.00 2.70 0.00 0.000 4 0.000 0.068 2565 773 886

10080 1.25 464.7 199.3 10.8 480 10085 0.00 2.62 0.00 0.000 6 0.000 0.054 2565 2201 886

10401 1.25 464.7 165.5 10.6 496 10405 0.00 2.70 0.00 0.000 4 0.000 0.068 2565 778 886

10451 1.25 464.7 160.3 10.0 498 10455 0.00 2.62 0.00 0.000 6 0.000 0.053 2565 2203 886

10767 1.25 464.7 129.7 9.4 513 10771 0.00 2.70 0.00 0.000 4 0.000 0.067 2565 775 887

10822 1.25 464.7 124.8 8.7 515 10828 0.00 2.62 0.00 0.000 6 0.000 0.054 2565 2204 886

11138 1.25 464.7 94.7 10.1 531 11142 0.00 2.70 0.00 0.000 4 0.000 0.068 2565 775 887

11182 1.29 464.7 90.0 10.6 533 11187 0.00 2.62 0.00 0.000 6 0.000 0.054 2565 2203 887

11504 1.29 464.7 57.0 10.4 549 11508 0.00 2.67 0.00 0.000 4 0.000 0.067 2565 782 887

11554 1.33 464.7 51.7 10.6 551 11559 0.12 2.60 0.00 0.000 6 0.073 0.054 2592 2201 887

11870 1.28 464.7 14.1 12.3 566 11875 0.00 2.67 0.00 0.000 4 0.000 0.067 2592 781 887

11882 1.21 464.7 12.5 12.3 566 11889 0.15 2.60 0.00 0.000 6 0.089 0.053 2562 2206 886

11989 end climb: SURFACE_DEPTH_REACHED

state 11989 begin surface coast

12011 end surface coast: CONTROL_FINISHED_OK

state 12011 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	111	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	19	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	-2095249	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	102226,6215.013,-902.224,40,2.0,40,-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	0.011,-0.221
_SM_DEPTHo	0.97	KALMAN_X	-166160.4,814.3,1108.0,-39382.1,-6857.9
_SM_ANGLEo	-53.2	KALMAN_Y	-4942.6,-2808.1,-1530.7,171259.9,51506.2
GPS2	102717,6215.048,-902.243,14,2.1,33,-9.5	MHEAD_RNG_PITCHd_Wd	191.2,52893,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.027219	ALTIM_BOTTOM_PING	402.5,51.9
SM_CCo	12033,45.08,0.621,0,0,509,557.32	_24V_AH	23.7,21.272
SM_GC	1.16,0.00,0.00,45.08,0.000,0.000,0.621,64,2305,509,-10.28,0.14,557.32	_10V_AH	10.1,10.723
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28620,573
TT8_MAMPS	0.02301	CAP_FILE_SIZE	97485,0
HUMID	1871	CFSIZE	260165632,251375616
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	3	GPS	300608,135058,6213.745,-904.705,33,2.2,52,-9.5
ALTIM_TOP_PING	19.2,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	165	97.28	SBE_CT	421	24	239.47
Roll_motor	133	85	269.87	SBE_O2	387	19	174.60
VBD_pump_during_apogee	528	928	11630.54	WL_BB2F	421	105	1049.63
VBD_pump_during_surface	45	620	662.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.93	nil	0	0	0.00
Iridium_during_connect	27	160	106.15	nil	0	0	0.00
Iridium_during_xfer	116	223	617.95
Transponder_ping	4	420	42.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.26
TT8	1092	19	218.53
LPSleep	8753	2	193.63
TT8_Active	695	19	139.05
TT8_Sampling	1451	39	583.49
TT8_CF8	381	45	176.67
TT8_Kalman	33	81	27.56
Analog_circuits	1466	12	177.71
GPS_charging	0	0	0.00
Compass	1394	8	112.64
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	-121.25	0.000	2	0.000	0.000	65	2310	2903
150	-0.85	-146.6	3.4	-2.8	6	180	11.38	2.72	-12.32	0.000	4	0.166	0.085	2108	3709	3380
248	-0.65	-146.6	17.2	-11.3	10	254	0.25	2.60	0.00	0.000	6	0.093	0.055	2157	2298	3381
566	-0.65	-146.6	44.1	-8.2	25	570	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	883	3381
593	-0.65	-146.6	46.7	-8.5	26	597	0.00	2.65	0.00	0.000	6	0.000	0.057	2157	2305	3381
909	-0.65	-146.6	73.0	-8.3	41	913	0.00	2.70	0.00	0.000	4	0.000	0.077	2157	3715	3381
948	-0.65	-146.6	76.5	-8.6	43	953	0.00	2.60	0.00	0.000	6	0.000	0.055	2157	2292	3381
1276	-0.65	-146.6	101.9	-7.3	59	1280	0.00	2.72	0.00	0.000	4	0.000	0.079	2157	3712	3381
1315	-0.65	-146.6	105.1	-8.1	61	1320	0.00	2.58	0.00	0.000	6	0.000	0.056	2157	2297	3381
1642	-0.65	-146.6	127.9	-6.7	77	1647	0.00	2.65	0.00	0.000	4	0.000	0.068	2157	884	3381
1670	-0.65	-146.6	130.0	-7.4	78	1674	0.00	2.65	0.00	0.000	6	0.000	0.059	2157	2303	3381
1988	-0.65	-146.6	150.7	-6.6	93	1992	0.00	2.70	0.00	0.000	4	0.000	0.079	2157	3715	3381
2028	-0.65	-146.6	153.7	-7.3	95	2033	0.00	2.60	0.00	0.000	6	0.000	0.057	2157	2299	3381
2355	-0.65	-146.6	174.3	-6.1	111	2360	0.00	2.65	0.00	0.000	4	0.000	0.069	2157	881	3381
2474	-0.71	-146.6	181.5	-6.2	116	2478	0.00	2.62	0.00	0.000	6	0.000	0.058	2157	2300	3381
2792	-0.71	-146.6	200.2	-6.2	131	2796	0.00	2.70	0.00	0.000	4	0.000	0.080	2157	3712	3381
2831	-0.71	-146.6	203.1	-7.2	133	2835	0.00	2.60	0.00	0.000	6	0.000	0.058	2157	2300	3381
3158	-0.71	-146.6	225.2	-7.0	149	3159	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2299	3381
3466	-0.71	-146.6	246.2	-6.8	164	3467	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2300	3381
3776	-0.71	-146.6	265.1	-5.9	179	3780	0.00	2.72	0.00	0.000	4	0.000	0.082	2157	3712	3381
3809	-0.71	-146.6	267.3	-6.4	180	3815	0.00	2.60	0.00	0.000	6	0.000	0.058	2157	2300	3381
4125	-0.71	-146.6	286.8	-6.2	196	4126	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2299	3381
4434	-0.71	-146.6	307.3	-7.0	211	4436	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2299	3381
4744	-0.71	-146.6	333.9	-10.4	226	4748	0.00	2.65	0.00	0.000	4	0.000	0.068	2157	882	3381
5001	-0.71	-146.6	364.2	-13.1	237	5007	0.00	2.65	0.00	0.000	6	0.000	0.060	2157	2304	3381
5317	-0.71	-146.6	407.8	-13.1	253	5321	0.00	2.67	0.00	0.000	4	0.000	0.067	2157	880	3381
5413	-0.71	-146.6	418.9	-10.4	257	5417	0.00	2.65	0.00	0.000	6	0.000	0.059	2157	2307	3381
5706	end dive: BOTTOM_OBSTACLE_DETECTED
state	5706	begin apogee
5713	-0.31	0.0	444.8	8.3	271	5847	0.35	0.00	127.50	0.928	6	0.087	0.000	2228	2197	2781
5848	end apogee: CONTROL_FINISHED_OK
state	5848	begin climb
5851	0.85	146.6	450.5	0.0	278	5987	1.15	2.78	126.45	0.911	4	0.062	0.064	2480	785	2183
6176	0.86	162.7	443.1	5.6	293	6198	0.00	2.65	15.30	0.840	6	0.000	0.056	2480	2199	2117
6507	0.92	163.5	425.2	6.0	309	6512	0.00	2.75	0.00	0.000	4	0.000	0.084	2480	3616	2116
6593	0.97	163.5	420.1	6.5	313	6598	0.15	2.65	0.00	0.000	6	0.058	0.062	2516	2203	2116
6920	0.90	163.5	397.7	7.3	329	6924	0.00	2.70	0.00	0.000	4	0.000	0.072	2516	784	2116
6982	0.82	163.5	392.6	8.2	332	6988	0.17	2.65	0.00	0.000	6	0.082	0.058	2480	2200	2116
7310	0.88	174.1	371.0	5.7	348	7322	0.00	0.00	10.90	0.805	6	0.000	0.000	2481	2200	2072
7618	1.03	261.5	357.6	3.6	363	7702	0.17	2.83	75.07	0.884	4	0.047	0.082	2525	3616	1714
7736	1.03	261.5	351.0	6.6	368	7740	0.00	2.67	0.00	0.000	6	0.000	0.063	2525	2202	1715
8051	1.03	261.5	330.0	6.6	383	8055	0.00	2.70	0.00	0.000	4	0.000	0.071	2525	779	1714
8101	1.03	261.5	326.4	6.6	385	8105	0.00	2.65	0.00	0.000	6	0.000	0.055	2525	2203	1713
8417	1.09	322.6	309.3	4.3	400	8475	0.00	0.00	52.60	0.844	6	0.000	0.000	2525	2203	1465
8785	1.23	443.6	297.0	2.7	418	8894	0.17	2.78	101.62	0.836	4	0.068	0.070	2565	783	971
8929	1.25	464.7	289.4	5.4	425	8953	0.00	2.67	19.33	0.772	6	0.000	0.054	2565	2207	886
9281	1.25	464.7	267.0	7.0	442	9285	0.00	2.72	0.00	0.000	4	0.000	0.070	2565	781	885
9343	1.25	464.7	262.3	7.6	445	9347	0.00	2.65	0.00	0.000	6	0.000	0.054	2565	2202	886
9669	1.25	464.7	236.9	8.0	461	9674	0.00	2.70	0.00	0.000	4	0.000	0.069	2565	782	886
9719	1.25	464.7	232.4	9.2	463	9723	0.00	2.62	0.00	0.000	6	0.000	0.054	2566	2201	886
10035	1.25	464.7	203.9	9.4	478	10039	0.00	2.70	0.00	0.000	4	0.000	0.068	2565	773	886
10080	1.25	464.7	199.3	10.8	480	10085	0.00	2.62	0.00	0.000	6	0.000	0.054	2565	2201	886
10401	1.25	464.7	165.5	10.6	496	10405	0.00	2.70	0.00	0.000	4	0.000	0.068	2565	778	886
10451	1.25	464.7	160.3	10.0	498	10455	0.00	2.62	0.00	0.000	6	0.000	0.053	2565	2203	886
10767	1.25	464.7	129.7	9.4	513	10771	0.00	2.70	0.00	0.000	4	0.000	0.067	2565	775	887
10822	1.25	464.7	124.8	8.7	515	10828	0.00	2.62	0.00	0.000	6	0.000	0.054	2565	2204	886
11138	1.25	464.7	94.7	10.1	531	11142	0.00	2.70	0.00	0.000	4	0.000	0.068	2565	775	887
11182	1.29	464.7	90.0	10.6	533	11187	0.00	2.62	0.00	0.000	6	0.000	0.054	2565	2203	887
11504	1.29	464.7	57.0	10.4	549	11508	0.00	2.67	0.00	0.000	4	0.000	0.067	2565	782	887
11554	1.33	464.7	51.7	10.6	551	11559	0.12	2.60	0.00	0.000	6	0.073	0.054	2592	2201	887
11870	1.28	464.7	14.1	12.3	566	11875	0.00	2.67	0.00	0.000	4	0.000	0.067	2592	781	887
11882	1.21	464.7	12.5	12.3	566	11889	0.15	2.60	0.00	0.000	6	0.089	0.053	2562	2206	886
11989	end climb: SURFACE_DEPTH_REACHED
state	11989	begin surface coast
12011	end surface coast: CONTROL_FINISHED_OK
state	12011	begin surface