Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 116 * 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 116 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 25 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 -2095362.5 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 -2095362.5

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 25 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 116 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 043500,6215.794,-902.952,28,3.1,47,-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 0.023,-0.220

_SM_DEPTHo 1.05 KALMAN_X -170989.4,1340.7,-437.1,-34148.8,-11029.0

_SM_ANGLEo -54.2 KALMAN_Y 1253.9,-2346.4,-1899.3,166497.1,44032.0

GPS2 044011,6215.906,-902.914,10,7.4,29,-9.5 MHEAD_RNG_PITCHd_Wd 190.5,54467,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027203 ALTIM_BOTTOM_PING 350.0,101.7

SM_CCo 11852,12.52,0.585,0,0,509,557.32 _24V_AH 23.7,21.980

SM_GC 1.00,0.00,0.00,12.52,0.000,0.000,0.585,68,2312,509,-10.27,0.34,557.32 _10V_AH 10.1,11.052

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28530,566

TT8_MAMPS 0.023777 CAP_FILE_SIZE 100231,0

HUMID 1863 CFSIZE 260165632,251129856

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

XPDR_PINGS 6 GPS 010708,080028,6217.890,-859.964,42,2.3,61,-9.5

ALTIM_TOP_PING 19.5,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 166 100.78 SBE_CT 416 24 237.16

Roll_motor 143 81 277.03 SBE_O2 382 19 172.21

VBD_pump_during_apogee 581 934 12877.07 WL_BB2F 392 105 977.63

VBD_pump_during_surface 12 585 173.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.91 nil 0 0 0.00

Iridium_during_connect 28 160 108.86 nil 0 0 0.00

Iridium_during_xfer 134 223 709.91

Transponder_ping 4 420 42.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 15.15

TT8 1078 19 215.64

LPSleep 8519 2 188.44

TT8_Active 696 19 139.24

TT8_Sampling 1477 39 593.83

TT8_CF8 410 45 189.67

TT8_Kalman 33 81 27.56

Analog_circuits 1507 12 182.76

GPS_charging 0 0 0.00

Compass 1425 8 115.15

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 -121.15 0.000 2 0.000 0.000 69 2315 2918

150 -0.85 -146.6 3.4 -2.9 6 180 11.32 2.72 -11.73 0.000 4 0.166 0.077 2107 889 3381

328 -0.70 -146.6 26.4 -11.8 14 333 0.20 2.60 0.00 0.000 6 0.094 0.054 2146 2292 3381

655 -0.62 -146.6 57.0 -9.1 30 660 0.00 2.65 0.00 0.000 4 0.000 0.062 2146 878 3382

689 -0.62 -146.6 60.2 -8.9 31 695 0.00 2.62 0.00 0.000 6 0.000 0.053 2146 2308 3381

1007 -0.55 -146.6 89.8 -10.0 47 1012 0.15 2.65 0.00 0.000 4 0.092 0.071 2180 3713 3382

1034 -0.55 -146.6 92.8 -9.8 48 1038 0.00 2.60 0.00 0.000 6 0.000 0.052 2179 2295 3382

1350 -0.60 -146.6 120.0 -8.1 63 1355 0.00 2.62 0.00 0.000 4 0.000 0.066 2180 885 3382

1423 -0.68 -146.6 125.7 -7.5 66 1428 0.15 2.60 0.00 0.000 6 0.041 0.054 2130 2300 3381

1740 -0.58 -146.6 156.3 -10.2 81 1741 0.20 0.00 0.00 0.000 6 0.081 0.000 2171 2300 3382

2049 -0.58 -146.6 178.4 -6.4 96 2053 0.00 2.65 0.00 0.000 4 0.000 0.065 2171 885 3382

2104 -0.63 -146.6 182.0 -6.2 98 2110 0.00 2.60 0.00 0.000 6 0.000 0.055 2171 2300 3382

2420 -0.63 -146.6 201.9 -6.5 114 2424 0.00 2.65 0.00 0.000 4 0.000 0.066 2171 878 3382

2447 -0.69 -146.6 203.7 -6.6 115 2452 0.00 2.62 0.00 0.000 6 0.000 0.054 2171 2305 3382

2763 -0.69 -146.6 223.9 -6.4 130 2767 0.00 2.65 0.00 0.000 4 0.000 0.067 2171 886 3382

2796 -0.74 -146.6 226.1 -6.6 131 2803 0.15 2.60 0.00 0.000 6 0.044 0.056 2122 2300 3382

3112 -0.61 -146.6 254.3 -9.1 147 3117 0.17 2.67 0.00 0.000 4 0.084 0.067 2162 881 3382

3145 -0.61 -146.6 257.0 -7.5 148 3151 0.00 2.62 0.00 0.000 6 0.000 0.055 2163 2306 3381

3461 -0.61 -146.6 278.8 -6.8 164 3465 0.00 2.67 0.00 0.000 4 0.000 0.067 2162 883 3382

3510 -0.61 -146.6 282.3 -6.5 166 3515 0.00 2.60 0.00 0.000 6 0.000 0.056 2162 2300 3382

3827 -0.61 -146.6 302.6 -6.4 181 3831 0.00 2.65 0.00 0.000 4 0.000 0.068 2162 886 3382

3866 -0.61 -146.6 305.2 -6.8 183 3870 0.00 2.60 0.00 0.000 6 0.000 0.057 2162 2300 3382

4193 -0.61 -146.6 326.2 -6.4 199 4194 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2299 3381

4501 -0.61 -146.6 344.7 -6.2 214 4506 0.00 2.65 0.00 0.000 4 0.000 0.068 2162 881 3381

4584 -0.61 -146.6 350.0 -6.6 217 4590 0.00 2.62 0.00 0.000 6 0.000 0.057 2162 2305 3382

4900 -0.61 -146.6 370.3 -6.1 233 4904 0.00 2.67 0.00 0.000 4 0.000 0.067 2162 881 3381

4955 -0.66 -146.6 374.0 -6.7 235 4962 0.00 2.60 0.00 0.000 6 0.000 0.058 2162 2301 3381

5272 -0.66 -146.6 391.9 -5.0 251 5273 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2301 3381

5581 -0.66 -146.6 402.7 -2.5 266 5585 0.00 2.65 0.00 0.000 4 0.000 0.067 2162 886 3382

5643 -0.72 -146.6 403.6 -0.8 269 5648 0.00 2.60 0.00 0.000 6 0.000 0.058 2162 2302 3381

5970 -0.72 -146.6 410.7 -3.9 285 5974 0.00 2.70 0.00 0.000 4 0.000 0.081 2162 3714 3382

6014 -0.72 -146.6 412.9 -6.2 287 6018 0.00 2.60 0.00 0.000 6 0.000 0.060 2162 2297 3381

6335 -0.72 -146.6 421.7 -2.1 303 6339 0.00 2.67 0.00 0.000 4 0.000 0.077 2162 886 3381

6369 -0.80 -146.6 423.4 -5.9 304 6375 0.17 2.62 0.00 0.000 6 0.042 0.061 2108 2298 3381

6579 end dive: BOTTOM_OBSTACLE_DETECTED

state 6579 begin apogee

6586 -0.31 0.0 444.4 11.1 315 6721 0.60 0.00 127.78 0.935 6 0.100 0.000 2228 2202 2781

6721 end apogee: CONTROL_FINISHED_OK

state 6721 begin climb

6725 0.85 146.6 450.3 0.0 322 6860 1.17 2.83 125.75 0.919 4 0.067 0.070 2482 776 2183

7053 0.85 146.6 436.5 6.0 337 7058 0.00 2.65 0.00 0.000 6 0.000 0.055 2482 2200 2182

7375 1.07 353.1 429.6 0.3 353 7561 0.20 2.80 175.23 0.907 4 0.043 0.078 2543 3616 1341

7612 1.11 353.1 408.5 9.9 364 7617 0.00 2.67 0.00 0.000 6 0.000 0.067 2542 2204 1341

7933 1.11 353.1 384.9 8.0 380 7937 0.00 2.72 0.00 0.000 4 0.000 0.081 2542 3613 1341

8021 1.11 353.1 376.2 8.7 384 8026 0.00 2.67 0.00 0.000 6 0.000 0.067 2542 2199 1341

8343 1.31 532.4 366.0 1.1 400 8509 0.17 2.83 152.38 0.883 4 0.051 0.074 2595 782 610

8565 1.31 532.4 354.5 6.7 410 8569 0.00 2.62 0.00 0.000 6 0.000 0.055 2595 2200 610

8880 1.31 532.4 327.8 9.5 425 8885 0.00 2.72 0.00 0.000 4 0.000 0.072 2595 779 610

8958 1.31 532.4 319.9 9.9 428 8964 0.00 2.65 0.00 0.000 6 0.000 0.054 2595 2205 610

9274 1.31 532.4 285.2 10.9 444 9279 0.00 2.72 0.00 0.000 4 0.000 0.071 2595 777 610

9347 1.31 532.4 277.1 10.6 447 9351 0.00 2.65 0.00 0.000 6 0.000 0.054 2595 2209 610

9662 1.31 532.4 242.2 11.1 462 9667 0.00 2.72 0.00 0.000 4 0.000 0.071 2595 774 611

9735 1.31 532.4 233.8 12.0 465 9739 0.00 2.62 0.00 0.000 6 0.000 0.053 2595 2202 610

10050 1.31 532.4 197.9 11.1 480 10055 0.00 2.70 0.00 0.000 4 0.000 0.070 2595 776 611

10128 1.31 532.4 189.4 10.4 483 10134 0.00 2.62 0.00 0.000 6 0.000 0.052 2595 2204 611

10444 1.31 532.4 156.0 10.8 499 10448 0.00 2.67 0.00 0.000 4 0.000 0.068 2595 781 611

10510 1.31 532.4 148.7 10.7 502 10514 0.00 2.60 0.00 0.000 6 0.000 0.052 2595 2198 611

10833 1.27 532.4 116.6 9.4 518 10837 0.00 2.67 0.00 0.000 4 0.000 0.069 2596 780 611

10900 1.27 532.4 109.7 9.5 521 10904 0.00 2.60 0.00 0.000 6 0.000 0.052 2595 2201 611

11221 1.27 532.4 72.0 13.9 537 11225 0.00 2.67 0.00 0.000 4 0.000 0.068 2595 781 612

11287 1.27 532.4 62.9 13.3 540 11291 0.00 2.60 0.00 0.000 6 0.000 0.052 2594 2201 611

11608 1.27 532.4 23.5 11.3 556 11612 0.00 2.67 0.00 0.000 4 0.000 0.068 2595 780 611

11680 1.27 532.4 16.0 10.3 559 11684 0.00 2.60 0.00 0.000 6 0.000 0.053 2595 2202 612

11809 end climb: SURFACE_DEPTH_REACHED

state 11809 begin surface coast

11830 end surface coast: CONTROL_FINISHED_OK

state 11830 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	116	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	25	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	-2095362.5	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	043500,6215.794,-902.952,28,3.1,47,-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	0.023,-0.220
_SM_DEPTHo	1.05	KALMAN_X	-170989.4,1340.7,-437.1,-34148.8,-11029.0
_SM_ANGLEo	-54.2	KALMAN_Y	1253.9,-2346.4,-1899.3,166497.1,44032.0
GPS2	044011,6215.906,-902.914,10,7.4,29,-9.5	MHEAD_RNG_PITCHd_Wd	190.5,54467,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027203	ALTIM_BOTTOM_PING	350.0,101.7
SM_CCo	11852,12.52,0.585,0,0,509,557.32	_24V_AH	23.7,21.980
SM_GC	1.00,0.00,0.00,12.52,0.000,0.000,0.585,68,2312,509,-10.27,0.34,557.32	_10V_AH	10.1,11.052
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28530,566
TT8_MAMPS	0.023777	CAP_FILE_SIZE	100231,0
HUMID	1863	CFSIZE	260165632,251129856
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	6	GPS	010708,080028,6217.890,-859.964,42,2.3,61,-9.5
ALTIM_TOP_PING	19.5,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	166	100.78	SBE_CT	416	24	237.16
Roll_motor	143	81	277.03	SBE_O2	382	19	172.21
VBD_pump_during_apogee	581	934	12877.07	WL_BB2F	392	105	977.63
VBD_pump_during_surface	12	585	173.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.91	nil	0	0	0.00
Iridium_during_connect	28	160	108.86	nil	0	0	0.00
Iridium_during_xfer	134	223	709.91
Transponder_ping	4	420	42.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	15.15
TT8	1078	19	215.64
LPSleep	8519	2	188.44
TT8_Active	696	19	139.24
TT8_Sampling	1477	39	593.83
TT8_CF8	410	45	189.67
TT8_Kalman	33	81	27.56
Analog_circuits	1507	12	182.76
GPS_charging	0	0	0.00
Compass	1425	8	115.15
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	-121.15	0.000	2	0.000	0.000	69	2315	2918
150	-0.85	-146.6	3.4	-2.9	6	180	11.32	2.72	-11.73	0.000	4	0.166	0.077	2107	889	3381
328	-0.70	-146.6	26.4	-11.8	14	333	0.20	2.60	0.00	0.000	6	0.094	0.054	2146	2292	3381
655	-0.62	-146.6	57.0	-9.1	30	660	0.00	2.65	0.00	0.000	4	0.000	0.062	2146	878	3382
689	-0.62	-146.6	60.2	-8.9	31	695	0.00	2.62	0.00	0.000	6	0.000	0.053	2146	2308	3381
1007	-0.55	-146.6	89.8	-10.0	47	1012	0.15	2.65	0.00	0.000	4	0.092	0.071	2180	3713	3382
1034	-0.55	-146.6	92.8	-9.8	48	1038	0.00	2.60	0.00	0.000	6	0.000	0.052	2179	2295	3382
1350	-0.60	-146.6	120.0	-8.1	63	1355	0.00	2.62	0.00	0.000	4	0.000	0.066	2180	885	3382
1423	-0.68	-146.6	125.7	-7.5	66	1428	0.15	2.60	0.00	0.000	6	0.041	0.054	2130	2300	3381
1740	-0.58	-146.6	156.3	-10.2	81	1741	0.20	0.00	0.00	0.000	6	0.081	0.000	2171	2300	3382
2049	-0.58	-146.6	178.4	-6.4	96	2053	0.00	2.65	0.00	0.000	4	0.000	0.065	2171	885	3382
2104	-0.63	-146.6	182.0	-6.2	98	2110	0.00	2.60	0.00	0.000	6	0.000	0.055	2171	2300	3382
2420	-0.63	-146.6	201.9	-6.5	114	2424	0.00	2.65	0.00	0.000	4	0.000	0.066	2171	878	3382
2447	-0.69	-146.6	203.7	-6.6	115	2452	0.00	2.62	0.00	0.000	6	0.000	0.054	2171	2305	3382
2763	-0.69	-146.6	223.9	-6.4	130	2767	0.00	2.65	0.00	0.000	4	0.000	0.067	2171	886	3382
2796	-0.74	-146.6	226.1	-6.6	131	2803	0.15	2.60	0.00	0.000	6	0.044	0.056	2122	2300	3382
3112	-0.61	-146.6	254.3	-9.1	147	3117	0.17	2.67	0.00	0.000	4	0.084	0.067	2162	881	3382
3145	-0.61	-146.6	257.0	-7.5	148	3151	0.00	2.62	0.00	0.000	6	0.000	0.055	2163	2306	3381
3461	-0.61	-146.6	278.8	-6.8	164	3465	0.00	2.67	0.00	0.000	4	0.000	0.067	2162	883	3382
3510	-0.61	-146.6	282.3	-6.5	166	3515	0.00	2.60	0.00	0.000	6	0.000	0.056	2162	2300	3382
3827	-0.61	-146.6	302.6	-6.4	181	3831	0.00	2.65	0.00	0.000	4	0.000	0.068	2162	886	3382
3866	-0.61	-146.6	305.2	-6.8	183	3870	0.00	2.60	0.00	0.000	6	0.000	0.057	2162	2300	3382
4193	-0.61	-146.6	326.2	-6.4	199	4194	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2299	3381
4501	-0.61	-146.6	344.7	-6.2	214	4506	0.00	2.65	0.00	0.000	4	0.000	0.068	2162	881	3381
4584	-0.61	-146.6	350.0	-6.6	217	4590	0.00	2.62	0.00	0.000	6	0.000	0.057	2162	2305	3382
4900	-0.61	-146.6	370.3	-6.1	233	4904	0.00	2.67	0.00	0.000	4	0.000	0.067	2162	881	3381
4955	-0.66	-146.6	374.0	-6.7	235	4962	0.00	2.60	0.00	0.000	6	0.000	0.058	2162	2301	3381
5272	-0.66	-146.6	391.9	-5.0	251	5273	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2301	3381
5581	-0.66	-146.6	402.7	-2.5	266	5585	0.00	2.65	0.00	0.000	4	0.000	0.067	2162	886	3382
5643	-0.72	-146.6	403.6	-0.8	269	5648	0.00	2.60	0.00	0.000	6	0.000	0.058	2162	2302	3381
5970	-0.72	-146.6	410.7	-3.9	285	5974	0.00	2.70	0.00	0.000	4	0.000	0.081	2162	3714	3382
6014	-0.72	-146.6	412.9	-6.2	287	6018	0.00	2.60	0.00	0.000	6	0.000	0.060	2162	2297	3381
6335	-0.72	-146.6	421.7	-2.1	303	6339	0.00	2.67	0.00	0.000	4	0.000	0.077	2162	886	3381
6369	-0.80	-146.6	423.4	-5.9	304	6375	0.17	2.62	0.00	0.000	6	0.042	0.061	2108	2298	3381
6579	end dive: BOTTOM_OBSTACLE_DETECTED
state	6579	begin apogee
6586	-0.31	0.0	444.4	11.1	315	6721	0.60	0.00	127.78	0.935	6	0.100	0.000	2228	2202	2781
6721	end apogee: CONTROL_FINISHED_OK
state	6721	begin climb
6725	0.85	146.6	450.3	0.0	322	6860	1.17	2.83	125.75	0.919	4	0.067	0.070	2482	776	2183
7053	0.85	146.6	436.5	6.0	337	7058	0.00	2.65	0.00	0.000	6	0.000	0.055	2482	2200	2182
7375	1.07	353.1	429.6	0.3	353	7561	0.20	2.80	175.23	0.907	4	0.043	0.078	2543	3616	1341
7612	1.11	353.1	408.5	9.9	364	7617	0.00	2.67	0.00	0.000	6	0.000	0.067	2542	2204	1341
7933	1.11	353.1	384.9	8.0	380	7937	0.00	2.72	0.00	0.000	4	0.000	0.081	2542	3613	1341
8021	1.11	353.1	376.2	8.7	384	8026	0.00	2.67	0.00	0.000	6	0.000	0.067	2542	2199	1341
8343	1.31	532.4	366.0	1.1	400	8509	0.17	2.83	152.38	0.883	4	0.051	0.074	2595	782	610
8565	1.31	532.4	354.5	6.7	410	8569	0.00	2.62	0.00	0.000	6	0.000	0.055	2595	2200	610
8880	1.31	532.4	327.8	9.5	425	8885	0.00	2.72	0.00	0.000	4	0.000	0.072	2595	779	610
8958	1.31	532.4	319.9	9.9	428	8964	0.00	2.65	0.00	0.000	6	0.000	0.054	2595	2205	610
9274	1.31	532.4	285.2	10.9	444	9279	0.00	2.72	0.00	0.000	4	0.000	0.071	2595	777	610
9347	1.31	532.4	277.1	10.6	447	9351	0.00	2.65	0.00	0.000	6	0.000	0.054	2595	2209	610
9662	1.31	532.4	242.2	11.1	462	9667	0.00	2.72	0.00	0.000	4	0.000	0.071	2595	774	611
9735	1.31	532.4	233.8	12.0	465	9739	0.00	2.62	0.00	0.000	6	0.000	0.053	2595	2202	610
10050	1.31	532.4	197.9	11.1	480	10055	0.00	2.70	0.00	0.000	4	0.000	0.070	2595	776	611
10128	1.31	532.4	189.4	10.4	483	10134	0.00	2.62	0.00	0.000	6	0.000	0.052	2595	2204	611
10444	1.31	532.4	156.0	10.8	499	10448	0.00	2.67	0.00	0.000	4	0.000	0.068	2595	781	611
10510	1.31	532.4	148.7	10.7	502	10514	0.00	2.60	0.00	0.000	6	0.000	0.052	2595	2198	611
10833	1.27	532.4	116.6	9.4	518	10837	0.00	2.67	0.00	0.000	4	0.000	0.069	2596	780	611
10900	1.27	532.4	109.7	9.5	521	10904	0.00	2.60	0.00	0.000	6	0.000	0.052	2595	2201	611
11221	1.27	532.4	72.0	13.9	537	11225	0.00	2.67	0.00	0.000	4	0.000	0.068	2595	781	612
11287	1.27	532.4	62.9	13.3	540	11291	0.00	2.60	0.00	0.000	6	0.000	0.052	2594	2201	611
11608	1.27	532.4	23.5	11.3	556	11612	0.00	2.67	0.00	0.000	4	0.000	0.068	2595	780	611
11680	1.27	532.4	16.0	10.3	559	11684	0.00	2.60	0.00	0.000	6	0.000	0.053	2595	2202	612
11809	end climb: SURFACE_DEPTH_REACHED
state	11809	begin surface coast
11830	end surface coast: CONTROL_FINISHED_OK
state	11830	begin surface