Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 113 * 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 113 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 -2095299.1 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 -2095299.1

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 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 113 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 175025,6215.355,-905.208,30,1.2,47,-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 0.227,-0.049

_SM_DEPTHo 1.07 KALMAN_X -167452.7,253.2,901.2,-39916.4,-8378.4

_SM_ANGLEo -54.9 KALMAN_Y -591.4,-2990.2,-1442.3,167635.4,47462.8

GPS2 175457,6215.412,-905.117,14,2.0,14,-9.5 MHEAD_RNG_PITCHd_Wd 188.5,53554,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027164 ALTIM_BOTTOM_PING 400.1,56.3

SM_CCo 12015,119.95,0.624,0,0,508,557.32 _24V_AH 23.7,21.554

SM_GC 1.13,0.00,0.00,119.95,0.000,0.000,0.624,71,2300,508,-10.25,0.00,557.32 _10V_AH 10.2,10.857

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28510,579

TT8_MAMPS 0.023777 CAP_FILE_SIZE 94311,0

HUMID 1849 CFSIZE 260165632,251277312

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 6 GPS 300608,211937,6216.158,-902.354,42,1.0,53,-9.5

ALTIM_TOP_PING 20.0,19.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 164 97.71 SBE_CT 429 24 244.24

Roll_motor 128 85 258.32 SBE_O2 392 19 176.74

VBD_pump_during_apogee 391 928 8618.29 WL_BB2F 446 105 1110.50

VBD_pump_during_surface 119 623 1772.70 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.95 nil 0 0 0.00

Iridium_during_connect 28 160 108.69 nil 0 0 0.00

Iridium_during_xfer 114 223 606.30

Transponder_ping 4 420 47.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.49

TT8 1091 19 220.52

LPSleep 8978 2 200.57

TT8_Active 666 19 134.71

TT8_Sampling 1291 39 524.34

TT8_CF8 383 45 179.20

TT8_Kalman 33 81 27.84

Analog_circuits 1348 12 165.09

GPS_charging 0 0 0.00

Compass 1264 8 103.21

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

24 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.93 0.000 2 0.000 0.000 64 2313 2916

150 -0.85 -146.6 3.2 -2.6 6 180 11.38 2.70 -11.98 0.000 4 0.165 0.085 2109 3697 3380

265 -0.66 -146.6 19.1 -11.4 11 270 0.22 2.60 0.00 0.000 6 0.107 0.055 2150 2295 3380

588 -0.60 -146.6 46.5 -8.0 27 593 0.00 2.65 0.00 0.000 4 0.000 0.067 2150 881 3380

700 -0.60 -146.6 55.8 -8.3 32 705 0.00 2.62 0.00 0.000 6 0.000 0.057 2150 2296 3380

1024 -0.55 -146.6 82.8 -9.0 48 1029 0.15 2.67 0.00 0.000 4 0.135 0.064 2178 874 3381

1052 -0.59 -146.6 85.7 -8.6 49 1056 0.00 2.65 0.00 0.000 6 0.000 0.056 2178 2303 3381

1368 -0.59 -146.6 113.1 -9.1 64 1372 0.00 2.67 0.00 0.000 4 0.000 0.065 2179 879 3381

1435 -0.65 -146.6 119.5 -9.5 67 1439 0.00 2.62 0.00 0.000 6 0.000 0.056 2179 2302 3381

1756 -0.65 -146.6 148.0 -8.6 83 1757 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2302 3381

2065 -0.65 -146.6 170.5 -6.6 98 2069 0.00 2.65 0.00 0.000 4 0.000 0.066 2179 881 3381

2098 -0.73 -146.6 172.8 -7.0 99 2104 0.17 2.62 0.00 0.000 6 0.045 0.057 2122 2300 3381

2414 -0.61 -146.6 199.2 -8.1 115 2416 0.22 0.00 0.00 0.000 6 0.084 0.000 2167 2301 3381

2723 -0.61 -146.6 217.5 -5.6 130 2727 0.00 2.67 0.00 0.000 4 0.000 0.067 2167 874 3381

2786 -0.65 -146.6 221.0 -5.8 133 2790 0.00 2.65 0.00 0.000 6 0.000 0.057 2167 2305 3381

3112 -0.65 -146.6 238.1 -5.0 149 3117 0.00 2.67 0.00 0.000 4 0.000 0.067 2167 879 3381

3154 -0.70 -146.6 240.2 -5.8 151 3158 0.00 2.62 0.00 0.000 6 0.000 0.058 2167 2301 3381

3480 -0.70 -146.6 257.3 -5.6 167 3485 0.00 2.65 0.00 0.000 4 0.000 0.067 2168 881 3381

3521 -0.75 -146.6 259.8 -6.1 169 3526 0.15 2.62 0.00 0.000 6 0.042 0.058 2119 2301 3381

3848 -0.63 -146.6 290.1 -10.1 185 3853 0.17 2.67 0.00 0.000 4 0.087 0.069 2158 881 3381

3892 -0.63 -146.6 294.3 -8.6 187 3896 0.00 2.62 0.00 0.000 6 0.000 0.058 2158 2300 3381

4213 -0.63 -146.6 321.0 -8.4 203 4217 0.00 2.67 0.00 0.000 4 0.000 0.069 2158 878 3381

4252 -0.63 -146.6 324.2 -8.1 205 4256 0.00 2.62 0.00 0.000 6 0.000 0.058 2158 2305 3381

4578 -0.63 -146.6 349.5 -7.5 221 4583 0.00 2.67 0.00 0.000 4 0.000 0.068 2158 881 3381

4618 -0.63 -146.6 352.5 -7.4 223 4622 0.00 2.62 0.00 0.000 6 0.000 0.058 2158 2299 3381

4944 -0.63 -146.6 377.7 -7.5 239 4948 0.00 2.65 0.00 0.000 4 0.000 0.069 2158 881 3380

4988 -0.63 -146.6 381.0 -7.5 241 4992 0.00 2.62 0.00 0.000 6 0.000 0.058 2158 2302 3381

5309 -0.63 -146.6 407.0 -8.3 257 5313 0.00 2.70 0.00 0.000 4 0.000 0.080 2158 3717 3380

5353 -0.63 -146.6 410.5 -7.2 259 5357 0.00 2.62 0.00 0.000 6 0.000 0.058 2158 2294 3380

5673 -0.63 -146.6 429.9 -6.6 275 5678 0.00 2.72 0.00 0.000 4 0.000 0.082 2158 3709 3380

5700 -0.63 -146.6 432.2 -8.5 276 5705 0.00 2.60 0.00 0.000 6 0.000 0.059 2158 2297 3381

5952 end dive: BOTTOM_OBSTACLE_DETECTED

state 5952 begin apogee

5959 -0.31 0.0 447.9 6.6 288 6089 0.38 0.00 127.43 0.928 6 0.107 0.000 2231 2200 2782

6090 end apogee: CONTROL_FINISHED_OK

state 6090 begin climb

6093 0.85 146.6 451.8 0.0 294 6229 1.17 2.78 126.55 0.908 4 0.072 0.070 2483 789 2182

6270 0.99 280.6 444.4 2.3 303 6391 0.15 2.65 114.30 0.895 6 0.047 0.056 2527 2201 1637

6718 0.99 280.6 409.3 8.4 325 6723 0.00 2.72 0.00 0.000 4 0.000 0.081 2527 3613 1636

6774 0.99 280.6 405.0 7.5 327 6780 0.00 2.67 0.00 0.000 6 0.000 0.064 2527 2200 1636

7090 1.02 306.9 387.7 5.3 343 7119 0.00 2.80 23.55 0.849 4 0.000 0.081 2527 3614 1529

7155 1.02 306.9 384.3 6.2 346 7159 0.00 2.70 0.00 0.000 6 0.000 0.064 2527 2198 1529

7481 1.02 306.9 364.9 6.5 362 7485 0.00 2.70 0.00 0.000 4 0.000 0.073 2526 781 1528

7508 1.02 306.9 363.1 6.6 363 7512 0.00 2.65 0.00 0.000 6 0.000 0.055 2527 2206 1528

7824 1.02 306.9 339.3 8.1 378 7828 0.00 2.70 0.00 0.000 4 0.000 0.078 2527 3614 1528

7842 1.02 306.9 337.8 8.5 379 7846 0.00 2.67 0.00 0.000 6 0.000 0.064 2527 2197 1529

8168 1.02 306.9 309.0 9.1 395 8169 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2197 1528

8478 1.02 306.9 279.8 9.6 410 8482 0.00 2.65 0.00 0.000 4 0.000 0.069 2527 781 1528

8499 1.02 306.9 277.7 8.8 411 8503 0.00 2.62 0.00 0.000 6 0.000 0.054 2527 2201 1526

8819 1.02 306.9 248.6 9.0 427 8821 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2201 1527

9129 1.02 306.9 222.5 8.4 442 9133 0.00 2.67 0.00 0.000 4 0.000 0.067 2527 774 1528

9156 1.02 306.9 220.1 8.9 443 9160 0.00 2.62 0.00 0.000 6 0.000 0.053 2527 2203 1527

9471 1.02 306.9 194.0 8.0 458 9473 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2203 1527

9781 1.02 306.9 169.7 8.0 473 9782 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2203 1528

10090 1.02 306.9 144.8 8.3 488 10095 0.00 2.67 0.00 0.000 4 0.000 0.066 2527 780 1528

10118 1.07 306.9 142.5 8.3 489 10122 0.00 2.62 0.00 0.000 6 0.000 0.053 2527 2206 1528

10434 1.07 306.9 116.7 8.2 504 10435 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2206 1528

10743 1.07 306.9 92.5 7.8 519 10747 0.00 2.67 0.00 0.000 4 0.000 0.066 2527 779 1528

10770 1.11 306.9 90.4 8.0 520 10775 0.00 2.60 0.00 0.000 6 0.000 0.051 2527 2201 1528

11088 1.11 306.9 66.8 7.1 535 11089 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2202 1528

11395 1.11 306.9 45.4 7.1 550 11397 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2202 1528

11705 1.16 306.9 23.9 6.5 565 11710 0.12 2.67 0.00 0.000 4 0.050 0.065 2567 771 1528

11761 1.11 306.9 18.9 8.7 567 11768 0.12 2.60 0.00 0.000 6 0.085 0.052 2542 2203 1528

11971 end climb: SURFACE_DEPTH_REACHED

state 11971 begin surface coast

11993 end surface coast: CONTROL_FINISHED_OK

state 11993 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	113	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	-2095299.1	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	175025,6215.355,-905.208,30,1.2,47,-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	0.227,-0.049
_SM_DEPTHo	1.07	KALMAN_X	-167452.7,253.2,901.2,-39916.4,-8378.4
_SM_ANGLEo	-54.9	KALMAN_Y	-591.4,-2990.2,-1442.3,167635.4,47462.8
GPS2	175457,6215.412,-905.117,14,2.0,14,-9.5	MHEAD_RNG_PITCHd_Wd	188.5,53554,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.027164	ALTIM_BOTTOM_PING	400.1,56.3
SM_CCo	12015,119.95,0.624,0,0,508,557.32	_24V_AH	23.7,21.554
SM_GC	1.13,0.00,0.00,119.95,0.000,0.000,0.624,71,2300,508,-10.25,0.00,557.32	_10V_AH	10.2,10.857
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28510,579
TT8_MAMPS	0.023777	CAP_FILE_SIZE	94311,0
HUMID	1849	CFSIZE	260165632,251277312
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	6	GPS	300608,211937,6216.158,-902.354,42,1.0,53,-9.5
ALTIM_TOP_PING	20.0,19.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	164	97.71	SBE_CT	429	24	244.24
Roll_motor	128	85	258.32	SBE_O2	392	19	176.74
VBD_pump_during_apogee	391	928	8618.29	WL_BB2F	446	105	1110.50
VBD_pump_during_surface	119	623	1772.70	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.95	nil	0	0	0.00
Iridium_during_connect	28	160	108.69	nil	0	0	0.00
Iridium_during_xfer	114	223	606.30
Transponder_ping	4	420	47.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.49
TT8	1091	19	220.52
LPSleep	8978	2	200.57
TT8_Active	666	19	134.71
TT8_Sampling	1291	39	524.34
TT8_CF8	383	45	179.20
TT8_Kalman	33	81	27.84
Analog_circuits	1348	12	165.09
GPS_charging	0	0	0.00
Compass	1264	8	103.21
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
24	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.93	0.000	2	0.000	0.000	64	2313	2916
150	-0.85	-146.6	3.2	-2.6	6	180	11.38	2.70	-11.98	0.000	4	0.165	0.085	2109	3697	3380
265	-0.66	-146.6	19.1	-11.4	11	270	0.22	2.60	0.00	0.000	6	0.107	0.055	2150	2295	3380
588	-0.60	-146.6	46.5	-8.0	27	593	0.00	2.65	0.00	0.000	4	0.000	0.067	2150	881	3380
700	-0.60	-146.6	55.8	-8.3	32	705	0.00	2.62	0.00	0.000	6	0.000	0.057	2150	2296	3380
1024	-0.55	-146.6	82.8	-9.0	48	1029	0.15	2.67	0.00	0.000	4	0.135	0.064	2178	874	3381
1052	-0.59	-146.6	85.7	-8.6	49	1056	0.00	2.65	0.00	0.000	6	0.000	0.056	2178	2303	3381
1368	-0.59	-146.6	113.1	-9.1	64	1372	0.00	2.67	0.00	0.000	4	0.000	0.065	2179	879	3381
1435	-0.65	-146.6	119.5	-9.5	67	1439	0.00	2.62	0.00	0.000	6	0.000	0.056	2179	2302	3381
1756	-0.65	-146.6	148.0	-8.6	83	1757	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2302	3381
2065	-0.65	-146.6	170.5	-6.6	98	2069	0.00	2.65	0.00	0.000	4	0.000	0.066	2179	881	3381
2098	-0.73	-146.6	172.8	-7.0	99	2104	0.17	2.62	0.00	0.000	6	0.045	0.057	2122	2300	3381
2414	-0.61	-146.6	199.2	-8.1	115	2416	0.22	0.00	0.00	0.000	6	0.084	0.000	2167	2301	3381
2723	-0.61	-146.6	217.5	-5.6	130	2727	0.00	2.67	0.00	0.000	4	0.000	0.067	2167	874	3381
2786	-0.65	-146.6	221.0	-5.8	133	2790	0.00	2.65	0.00	0.000	6	0.000	0.057	2167	2305	3381
3112	-0.65	-146.6	238.1	-5.0	149	3117	0.00	2.67	0.00	0.000	4	0.000	0.067	2167	879	3381
3154	-0.70	-146.6	240.2	-5.8	151	3158	0.00	2.62	0.00	0.000	6	0.000	0.058	2167	2301	3381
3480	-0.70	-146.6	257.3	-5.6	167	3485	0.00	2.65	0.00	0.000	4	0.000	0.067	2168	881	3381
3521	-0.75	-146.6	259.8	-6.1	169	3526	0.15	2.62	0.00	0.000	6	0.042	0.058	2119	2301	3381
3848	-0.63	-146.6	290.1	-10.1	185	3853	0.17	2.67	0.00	0.000	4	0.087	0.069	2158	881	3381
3892	-0.63	-146.6	294.3	-8.6	187	3896	0.00	2.62	0.00	0.000	6	0.000	0.058	2158	2300	3381
4213	-0.63	-146.6	321.0	-8.4	203	4217	0.00	2.67	0.00	0.000	4	0.000	0.069	2158	878	3381
4252	-0.63	-146.6	324.2	-8.1	205	4256	0.00	2.62	0.00	0.000	6	0.000	0.058	2158	2305	3381
4578	-0.63	-146.6	349.5	-7.5	221	4583	0.00	2.67	0.00	0.000	4	0.000	0.068	2158	881	3381
4618	-0.63	-146.6	352.5	-7.4	223	4622	0.00	2.62	0.00	0.000	6	0.000	0.058	2158	2299	3381
4944	-0.63	-146.6	377.7	-7.5	239	4948	0.00	2.65	0.00	0.000	4	0.000	0.069	2158	881	3380
4988	-0.63	-146.6	381.0	-7.5	241	4992	0.00	2.62	0.00	0.000	6	0.000	0.058	2158	2302	3381
5309	-0.63	-146.6	407.0	-8.3	257	5313	0.00	2.70	0.00	0.000	4	0.000	0.080	2158	3717	3380
5353	-0.63	-146.6	410.5	-7.2	259	5357	0.00	2.62	0.00	0.000	6	0.000	0.058	2158	2294	3380
5673	-0.63	-146.6	429.9	-6.6	275	5678	0.00	2.72	0.00	0.000	4	0.000	0.082	2158	3709	3380
5700	-0.63	-146.6	432.2	-8.5	276	5705	0.00	2.60	0.00	0.000	6	0.000	0.059	2158	2297	3381
5952	end dive: BOTTOM_OBSTACLE_DETECTED
state	5952	begin apogee
5959	-0.31	0.0	447.9	6.6	288	6089	0.38	0.00	127.43	0.928	6	0.107	0.000	2231	2200	2782
6090	end apogee: CONTROL_FINISHED_OK
state	6090	begin climb
6093	0.85	146.6	451.8	0.0	294	6229	1.17	2.78	126.55	0.908	4	0.072	0.070	2483	789	2182
6270	0.99	280.6	444.4	2.3	303	6391	0.15	2.65	114.30	0.895	6	0.047	0.056	2527	2201	1637
6718	0.99	280.6	409.3	8.4	325	6723	0.00	2.72	0.00	0.000	4	0.000	0.081	2527	3613	1636
6774	0.99	280.6	405.0	7.5	327	6780	0.00	2.67	0.00	0.000	6	0.000	0.064	2527	2200	1636
7090	1.02	306.9	387.7	5.3	343	7119	0.00	2.80	23.55	0.849	4	0.000	0.081	2527	3614	1529
7155	1.02	306.9	384.3	6.2	346	7159	0.00	2.70	0.00	0.000	6	0.000	0.064	2527	2198	1529
7481	1.02	306.9	364.9	6.5	362	7485	0.00	2.70	0.00	0.000	4	0.000	0.073	2526	781	1528
7508	1.02	306.9	363.1	6.6	363	7512	0.00	2.65	0.00	0.000	6	0.000	0.055	2527	2206	1528
7824	1.02	306.9	339.3	8.1	378	7828	0.00	2.70	0.00	0.000	4	0.000	0.078	2527	3614	1528
7842	1.02	306.9	337.8	8.5	379	7846	0.00	2.67	0.00	0.000	6	0.000	0.064	2527	2197	1529
8168	1.02	306.9	309.0	9.1	395	8169	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2197	1528
8478	1.02	306.9	279.8	9.6	410	8482	0.00	2.65	0.00	0.000	4	0.000	0.069	2527	781	1528
8499	1.02	306.9	277.7	8.8	411	8503	0.00	2.62	0.00	0.000	6	0.000	0.054	2527	2201	1526
8819	1.02	306.9	248.6	9.0	427	8821	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2201	1527
9129	1.02	306.9	222.5	8.4	442	9133	0.00	2.67	0.00	0.000	4	0.000	0.067	2527	774	1528
9156	1.02	306.9	220.1	8.9	443	9160	0.00	2.62	0.00	0.000	6	0.000	0.053	2527	2203	1527
9471	1.02	306.9	194.0	8.0	458	9473	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2203	1527
9781	1.02	306.9	169.7	8.0	473	9782	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2203	1528
10090	1.02	306.9	144.8	8.3	488	10095	0.00	2.67	0.00	0.000	4	0.000	0.066	2527	780	1528
10118	1.07	306.9	142.5	8.3	489	10122	0.00	2.62	0.00	0.000	6	0.000	0.053	2527	2206	1528
10434	1.07	306.9	116.7	8.2	504	10435	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2206	1528
10743	1.07	306.9	92.5	7.8	519	10747	0.00	2.67	0.00	0.000	4	0.000	0.066	2527	779	1528
10770	1.11	306.9	90.4	8.0	520	10775	0.00	2.60	0.00	0.000	6	0.000	0.051	2527	2201	1528
11088	1.11	306.9	66.8	7.1	535	11089	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2202	1528
11395	1.11	306.9	45.4	7.1	550	11397	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2202	1528
11705	1.16	306.9	23.9	6.5	565	11710	0.12	2.67	0.00	0.000	4	0.050	0.065	2567	771	1528
11761	1.11	306.9	18.9	8.7	567	11768	0.12	2.60	0.00	0.000	6	0.085	0.052	2542	2203	1528
11971	end climb: SURFACE_DEPTH_REACHED
state	11971	begin surface coast
11993	end surface coast: CONTROL_FINISHED_OK
state	11993	begin surface