Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 117 * 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 117 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 23 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 -2095393.8 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 -2095393.8

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 23 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 117 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 080028,6217.890,-859.964,42,2.3,61,-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 0.003,-0.221

_SM_DEPTHo 1.11 KALMAN_X -167400.4,1112.7,-84.1,-35119.5,-5104.7

_SM_ANGLEo -52.5 KALMAN_Y 6930.4,-1416.9,-1728.7,163561.3,50709.9

GPS2 080520,6217.973,-859.877,13,2.0,30,-9.5 MHEAD_RNG_PITCHd_Wd 193.0,58399,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027151 ALTIM_BOTTOM_PING 376.5,74.6

SM_CCo 11629,154.55,0.622,0,0,508,557.32 _24V_AH 23.7,22.103

SM_GC 1.05,0.00,0.00,154.55,0.000,0.000,0.622,69,2304,508,-10.26,0.11,557.32 _10V_AH 10.2,11.114

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28471,560

TT8_MAMPS 0.023777 CAP_FILE_SIZE 91830,0

HUMID 1832 CFSIZE 260165632,251084800

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 5 GPS 010708,112416,6218.320,-857.987,42,2.5,61,-9.5

ALTIM_TOP_PING 19.6,19.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 164 95.21 SBE_CT 413 24 234.99

Roll_motor 127 82 248.38 SBE_O2 379 19 171.05

VBD_pump_during_apogee 329 928 7250.74 WL_BB2F 435 105 1084.71

VBD_pump_during_surface 154 622 2278.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.94 nil 0 0 0.00

Iridium_during_connect 32 160 124.10 nil 0 0 0.00

Iridium_during_xfer 115 223 610.99

Transponder_ping 4 420 42.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.59

TT8 1050 19 212.18

LPSleep 8690 2 194.13

TT8_Active 652 19 131.74

TT8_Sampling 1300 39 528.06

TT8_CF8 386 45 180.61

TT8_Kalman 33 81 27.84

Analog_circuits 1331 12 162.95

GPS_charging 0 0 0.00

Compass 1257 8 102.65

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 -121.03 0.000 2 0.000 0.000 67 2315 2844

150 -0.85 -146.6 3.3 -2.6 6 182 11.30 2.70 -14.73 0.000 4 0.164 0.074 2108 876 3379

317 -0.69 -146.6 22.8 -10.8 13 324 0.20 2.62 0.00 0.000 6 0.097 0.057 2147 2298 3378

635 -0.61 -146.6 51.3 -8.6 29 639 0.00 2.67 0.00 0.000 4 0.000 0.063 2148 870 3379

675 -0.61 -146.6 55.3 -9.4 31 679 0.00 2.65 0.00 0.000 6 0.000 0.055 2148 2305 3378

1002 -0.55 -146.6 85.8 -9.7 47 1004 0.15 0.00 0.00 0.000 6 0.095 0.000 2177 2305 3378

1310 -0.55 -146.6 115.2 -9.9 62 1315 0.00 2.67 0.00 0.000 4 0.000 0.064 2177 877 3379

1366 -0.62 -146.6 120.9 -10.2 64 1373 0.00 2.62 0.00 0.000 6 0.000 0.056 2177 2301 3379

1682 -0.62 -146.6 152.4 -10.2 80 1683 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2301 3379

1991 -0.62 -146.6 184.1 -10.2 95 1995 0.00 2.67 0.00 0.000 4 0.000 0.064 2177 868 3379

2046 -0.69 -146.6 189.7 -10.4 97 2053 0.12 2.65 0.00 0.000 6 0.046 0.056 2134 2303 3379

2363 -0.60 -146.6 225.2 -10.9 113 2365 0.17 0.00 0.00 0.000 6 0.082 0.000 2169 2304 3379

2672 -0.60 -146.6 250.4 -7.7 128 2676 0.00 2.67 0.00 0.000 4 0.000 0.065 2169 872 3379

2712 -0.65 -146.6 253.4 -7.9 130 2716 0.00 2.65 0.00 0.000 6 0.000 0.058 2169 2300 3379

3039 -0.65 -146.6 275.0 -6.1 146 3044 0.00 2.67 0.00 0.000 4 0.000 0.067 2170 877 3379

3073 -0.70 -146.6 277.1 -6.0 147 3079 0.00 2.62 0.00 0.000 6 0.000 0.057 2169 2300 3379

3389 -0.70 -146.6 294.3 -5.2 163 3393 0.00 2.67 0.00 0.000 4 0.000 0.067 2169 877 3379

3417 -0.74 -146.6 295.8 -5.0 164 3422 0.15 2.62 0.00 0.000 6 0.043 0.057 2120 2299 3379

3733 -0.62 -146.6 320.6 -8.5 179 3738 0.17 2.67 0.00 0.000 4 0.086 0.067 2158 877 3379

3796 -0.62 -146.6 325.2 -7.5 182 3800 0.00 2.65 0.00 0.000 6 0.000 0.058 2159 2304 3379

4123 -0.62 -146.6 350.5 -7.8 198 4127 0.00 2.70 0.00 0.000 4 0.000 0.067 2159 872 3379

4185 -0.62 -146.6 355.8 -8.7 201 4190 0.00 2.62 0.00 0.000 6 0.000 0.058 2159 2305 3379

4512 -0.62 -146.6 383.3 -8.3 217 4516 0.00 2.70 0.00 0.000 4 0.000 0.081 2159 3716 3379

4551 -0.62 -146.6 387.2 -11.9 219 4556 0.00 2.62 0.00 0.000 6 0.000 0.058 2159 2295 3379

4878 -0.62 -146.6 414.5 -6.9 235 4879 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2294 3379

5187 -0.62 -146.6 440.5 -6.4 250 5192 0.00 2.65 0.00 0.000 4 0.000 0.072 2159 880 3379

5196 end dive: BOTTOM_OBSTACLE_DETECTED

state 5196 begin apogee

5205 -0.31 0.0 441.3 5.3 250 5335 0.32 0.00 127.20 0.928 6 0.086 0.000 2229 2197 2781

5336 end apogee: CONTROL_FINISHED_OK

state 5336 begin climb

5339 0.85 146.6 446.4 0.0 257 5475 1.17 2.88 125.78 0.911 4 0.075 0.080 2479 3621 2182

5601 0.85 153.9 435.7 5.8 269 5617 0.00 2.65 7.90 0.752 6 0.000 0.061 2478 2203 2153

5927 0.94 233.9 419.7 3.8 285 5999 0.12 0.00 68.78 0.897 6 0.055 0.000 2514 2203 1827

6314 0.94 233.9 397.3 8.3 304 6316 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2203 1826

6624 0.94 233.9 376.5 12.2 319 6628 0.00 2.75 0.00 0.000 4 0.000 0.082 2514 3622 1826

6686 0.94 233.9 370.0 8.4 322 6690 0.00 2.67 0.00 0.000 6 0.000 0.063 2514 2194 1826

7012 0.94 233.9 346.1 7.9 338 7016 0.00 2.67 0.00 0.000 4 0.000 0.072 2514 783 1826

7067 0.94 233.9 341.4 8.7 340 7074 0.00 2.62 0.00 0.000 6 0.000 0.056 2514 2204 1824

7383 0.94 233.9 317.1 8.0 356 7387 0.00 2.70 0.00 0.000 4 0.000 0.079 2514 3614 1824

7410 0.94 233.9 314.4 9.1 357 7414 0.00 2.65 0.00 0.000 6 0.000 0.062 2514 2194 1824

7726 0.94 233.9 289.7 7.6 372 7730 0.00 2.65 0.00 0.000 4 0.000 0.067 2514 782 1824

7747 0.94 233.9 288.0 7.4 373 7751 0.00 2.62 0.00 0.000 6 0.000 0.055 2514 2203 1823

8068 0.94 233.9 265.5 7.0 389 8072 0.00 2.70 0.00 0.000 4 0.000 0.077 2514 3618 1822

8100 0.94 233.9 262.9 7.9 390 8107 0.00 2.65 0.00 0.000 6 0.000 0.060 2513 2194 1823

8416 0.94 233.9 240.3 7.3 406 8417 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2194 1823

8725 0.94 233.9 217.7 7.5 421 8730 0.00 2.72 0.00 0.000 4 0.000 0.077 2514 3617 1823

8758 0.94 233.9 214.8 8.2 422 8764 0.00 2.62 0.00 0.000 6 0.000 0.058 2515 2196 1823

9074 0.94 233.9 189.7 8.1 438 9078 0.00 2.70 0.00 0.000 4 0.000 0.075 2513 3621 1823

9101 0.94 233.9 187.4 8.6 439 9105 0.00 2.62 0.00 0.000 6 0.000 0.058 2514 2199 1823

9416 0.94 233.9 162.5 7.7 454 9417 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2199 1823

9726 0.94 233.9 139.5 7.3 469 9727 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2199 1823

10037 0.94 233.9 116.1 7.5 484 10041 0.00 2.67 0.00 0.000 4 0.000 0.074 2514 3614 1824

10080 0.94 233.9 112.3 8.2 486 10085 0.00 2.60 0.00 0.000 6 0.000 0.058 2514 2200 1824

10402 0.94 233.9 87.1 8.0 502 10407 0.00 2.65 0.00 0.000 4 0.000 0.065 2514 778 1824

10435 0.94 233.9 84.3 8.8 503 10441 0.00 2.60 0.00 0.000 6 0.000 0.053 2514 2202 1824

10752 0.94 233.9 60.2 7.3 519 10757 0.00 2.67 0.00 0.000 4 0.000 0.074 2514 3620 1824

10780 0.94 233.9 57.8 8.6 520 10785 0.00 2.62 0.00 0.000 6 0.000 0.058 2514 2200 1824

11096 0.94 233.9 34.8 7.5 535 11101 0.00 2.65 0.00 0.000 4 0.000 0.065 2514 780 1824

11117 0.94 233.9 33.0 7.5 536 11122 0.00 2.60 0.00 0.000 6 0.000 0.051 2514 2203 1824

11439 0.94 233.9 10.9 7.1 552 11443 0.00 2.65 0.00 0.000 4 0.000 0.072 2514 3613 1824

11539 0.98 233.9 3.9 7.7 556 11545 0.00 2.60 0.00 0.000 6 0.000 0.061 2514 2201 1825

11584 end climb: SURFACE_DEPTH_REACHED

state 11584 begin surface coast

11606 end surface coast: CONTROL_FINISHED_OK

state 11606 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	117	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	23	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	-2095393.8	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	080028,6217.890,-859.964,42,2.3,61,-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	0.003,-0.221
_SM_DEPTHo	1.11	KALMAN_X	-167400.4,1112.7,-84.1,-35119.5,-5104.7
_SM_ANGLEo	-52.5	KALMAN_Y	6930.4,-1416.9,-1728.7,163561.3,50709.9
GPS2	080520,6217.973,-859.877,13,2.0,30,-9.5	MHEAD_RNG_PITCHd_Wd	193.0,58399,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.027151	ALTIM_BOTTOM_PING	376.5,74.6
SM_CCo	11629,154.55,0.622,0,0,508,557.32	_24V_AH	23.7,22.103
SM_GC	1.05,0.00,0.00,154.55,0.000,0.000,0.622,69,2304,508,-10.26,0.11,557.32	_10V_AH	10.2,11.114
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28471,560
TT8_MAMPS	0.023777	CAP_FILE_SIZE	91830,0
HUMID	1832	CFSIZE	260165632,251084800
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	5	GPS	010708,112416,6218.320,-857.987,42,2.5,61,-9.5
ALTIM_TOP_PING	19.6,19.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	164	95.21	SBE_CT	413	24	234.99
Roll_motor	127	82	248.38	SBE_O2	379	19	171.05
VBD_pump_during_apogee	329	928	7250.74	WL_BB2F	435	105	1084.71
VBD_pump_during_surface	154	622	2278.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.94	nil	0	0	0.00
Iridium_during_connect	32	160	124.10	nil	0	0	0.00
Iridium_during_xfer	115	223	610.99
Transponder_ping	4	420	42.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.59
TT8	1050	19	212.18
LPSleep	8690	2	194.13
TT8_Active	652	19	131.74
TT8_Sampling	1300	39	528.06
TT8_CF8	386	45	180.61
TT8_Kalman	33	81	27.84
Analog_circuits	1331	12	162.95
GPS_charging	0	0	0.00
Compass	1257	8	102.65
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	-121.03	0.000	2	0.000	0.000	67	2315	2844
150	-0.85	-146.6	3.3	-2.6	6	182	11.30	2.70	-14.73	0.000	4	0.164	0.074	2108	876	3379
317	-0.69	-146.6	22.8	-10.8	13	324	0.20	2.62	0.00	0.000	6	0.097	0.057	2147	2298	3378
635	-0.61	-146.6	51.3	-8.6	29	639	0.00	2.67	0.00	0.000	4	0.000	0.063	2148	870	3379
675	-0.61	-146.6	55.3	-9.4	31	679	0.00	2.65	0.00	0.000	6	0.000	0.055	2148	2305	3378
1002	-0.55	-146.6	85.8	-9.7	47	1004	0.15	0.00	0.00	0.000	6	0.095	0.000	2177	2305	3378
1310	-0.55	-146.6	115.2	-9.9	62	1315	0.00	2.67	0.00	0.000	4	0.000	0.064	2177	877	3379
1366	-0.62	-146.6	120.9	-10.2	64	1373	0.00	2.62	0.00	0.000	6	0.000	0.056	2177	2301	3379
1682	-0.62	-146.6	152.4	-10.2	80	1683	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2301	3379
1991	-0.62	-146.6	184.1	-10.2	95	1995	0.00	2.67	0.00	0.000	4	0.000	0.064	2177	868	3379
2046	-0.69	-146.6	189.7	-10.4	97	2053	0.12	2.65	0.00	0.000	6	0.046	0.056	2134	2303	3379
2363	-0.60	-146.6	225.2	-10.9	113	2365	0.17	0.00	0.00	0.000	6	0.082	0.000	2169	2304	3379
2672	-0.60	-146.6	250.4	-7.7	128	2676	0.00	2.67	0.00	0.000	4	0.000	0.065	2169	872	3379
2712	-0.65	-146.6	253.4	-7.9	130	2716	0.00	2.65	0.00	0.000	6	0.000	0.058	2169	2300	3379
3039	-0.65	-146.6	275.0	-6.1	146	3044	0.00	2.67	0.00	0.000	4	0.000	0.067	2170	877	3379
3073	-0.70	-146.6	277.1	-6.0	147	3079	0.00	2.62	0.00	0.000	6	0.000	0.057	2169	2300	3379
3389	-0.70	-146.6	294.3	-5.2	163	3393	0.00	2.67	0.00	0.000	4	0.000	0.067	2169	877	3379
3417	-0.74	-146.6	295.8	-5.0	164	3422	0.15	2.62	0.00	0.000	6	0.043	0.057	2120	2299	3379
3733	-0.62	-146.6	320.6	-8.5	179	3738	0.17	2.67	0.00	0.000	4	0.086	0.067	2158	877	3379
3796	-0.62	-146.6	325.2	-7.5	182	3800	0.00	2.65	0.00	0.000	6	0.000	0.058	2159	2304	3379
4123	-0.62	-146.6	350.5	-7.8	198	4127	0.00	2.70	0.00	0.000	4	0.000	0.067	2159	872	3379
4185	-0.62	-146.6	355.8	-8.7	201	4190	0.00	2.62	0.00	0.000	6	0.000	0.058	2159	2305	3379
4512	-0.62	-146.6	383.3	-8.3	217	4516	0.00	2.70	0.00	0.000	4	0.000	0.081	2159	3716	3379
4551	-0.62	-146.6	387.2	-11.9	219	4556	0.00	2.62	0.00	0.000	6	0.000	0.058	2159	2295	3379
4878	-0.62	-146.6	414.5	-6.9	235	4879	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2294	3379
5187	-0.62	-146.6	440.5	-6.4	250	5192	0.00	2.65	0.00	0.000	4	0.000	0.072	2159	880	3379
5196	end dive: BOTTOM_OBSTACLE_DETECTED
state	5196	begin apogee
5205	-0.31	0.0	441.3	5.3	250	5335	0.32	0.00	127.20	0.928	6	0.086	0.000	2229	2197	2781
5336	end apogee: CONTROL_FINISHED_OK
state	5336	begin climb
5339	0.85	146.6	446.4	0.0	257	5475	1.17	2.88	125.78	0.911	4	0.075	0.080	2479	3621	2182
5601	0.85	153.9	435.7	5.8	269	5617	0.00	2.65	7.90	0.752	6	0.000	0.061	2478	2203	2153
5927	0.94	233.9	419.7	3.8	285	5999	0.12	0.00	68.78	0.897	6	0.055	0.000	2514	2203	1827
6314	0.94	233.9	397.3	8.3	304	6316	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2203	1826
6624	0.94	233.9	376.5	12.2	319	6628	0.00	2.75	0.00	0.000	4	0.000	0.082	2514	3622	1826
6686	0.94	233.9	370.0	8.4	322	6690	0.00	2.67	0.00	0.000	6	0.000	0.063	2514	2194	1826
7012	0.94	233.9	346.1	7.9	338	7016	0.00	2.67	0.00	0.000	4	0.000	0.072	2514	783	1826
7067	0.94	233.9	341.4	8.7	340	7074	0.00	2.62	0.00	0.000	6	0.000	0.056	2514	2204	1824
7383	0.94	233.9	317.1	8.0	356	7387	0.00	2.70	0.00	0.000	4	0.000	0.079	2514	3614	1824
7410	0.94	233.9	314.4	9.1	357	7414	0.00	2.65	0.00	0.000	6	0.000	0.062	2514	2194	1824
7726	0.94	233.9	289.7	7.6	372	7730	0.00	2.65	0.00	0.000	4	0.000	0.067	2514	782	1824
7747	0.94	233.9	288.0	7.4	373	7751	0.00	2.62	0.00	0.000	6	0.000	0.055	2514	2203	1823
8068	0.94	233.9	265.5	7.0	389	8072	0.00	2.70	0.00	0.000	4	0.000	0.077	2514	3618	1822
8100	0.94	233.9	262.9	7.9	390	8107	0.00	2.65	0.00	0.000	6	0.000	0.060	2513	2194	1823
8416	0.94	233.9	240.3	7.3	406	8417	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2194	1823
8725	0.94	233.9	217.7	7.5	421	8730	0.00	2.72	0.00	0.000	4	0.000	0.077	2514	3617	1823
8758	0.94	233.9	214.8	8.2	422	8764	0.00	2.62	0.00	0.000	6	0.000	0.058	2515	2196	1823
9074	0.94	233.9	189.7	8.1	438	9078	0.00	2.70	0.00	0.000	4	0.000	0.075	2513	3621	1823
9101	0.94	233.9	187.4	8.6	439	9105	0.00	2.62	0.00	0.000	6	0.000	0.058	2514	2199	1823
9416	0.94	233.9	162.5	7.7	454	9417	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2199	1823
9726	0.94	233.9	139.5	7.3	469	9727	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2199	1823
10037	0.94	233.9	116.1	7.5	484	10041	0.00	2.67	0.00	0.000	4	0.000	0.074	2514	3614	1824
10080	0.94	233.9	112.3	8.2	486	10085	0.00	2.60	0.00	0.000	6	0.000	0.058	2514	2200	1824
10402	0.94	233.9	87.1	8.0	502	10407	0.00	2.65	0.00	0.000	4	0.000	0.065	2514	778	1824
10435	0.94	233.9	84.3	8.8	503	10441	0.00	2.60	0.00	0.000	6	0.000	0.053	2514	2202	1824
10752	0.94	233.9	60.2	7.3	519	10757	0.00	2.67	0.00	0.000	4	0.000	0.074	2514	3620	1824
10780	0.94	233.9	57.8	8.6	520	10785	0.00	2.62	0.00	0.000	6	0.000	0.058	2514	2200	1824
11096	0.94	233.9	34.8	7.5	535	11101	0.00	2.65	0.00	0.000	4	0.000	0.065	2514	780	1824
11117	0.94	233.9	33.0	7.5	536	11122	0.00	2.60	0.00	0.000	6	0.000	0.051	2514	2203	1824
11439	0.94	233.9	10.9	7.1	552	11443	0.00	2.65	0.00	0.000	4	0.000	0.072	2514	3613	1824
11539	0.98	233.9	3.9	7.7	556	11545	0.00	2.60	0.00	0.000	6	0.000	0.061	2514	2201	1825
11584	end climb: SURFACE_DEPTH_REACHED
state	11584	begin surface coast
11606	end surface coast: CONTROL_FINISHED_OK
state	11606	begin surface