Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 119 * 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 119 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 24 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 -2095438.2 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 -2095438.2

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 24 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 119 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 144037,6217.492,-900.433,39,1.8,44,-9.5 TGT_NAME B1

_CALLS 1 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.210,-0.067

_SM_DEPTHo 1.01 KALMAN_X -168070.1,-581.6,331.5,-33731.0,-4096.5

_SM_ANGLEo -51.2 KALMAN_Y 10320.6,-4055.6,-544.5,160898.3,54112.7

GPS2 144509,6217.565,-900.549,13,1.8,13,-9.5 MHEAD_RNG_PITCHd_Wd 192.5,57611,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027148 ALTIM_BOTTOM_PING 400.0,58.3

SM_CCo 12259,122.60,0.624,0,0,509,557.32 _24V_AH 23.7,22.368

SM_GC 1.03,0.00,0.00,122.60,0.000,0.000,0.624,63,2320,509,-10.29,0.57,557.32 _10V_AH 10.2,11.236

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28553,586

TT8_MAMPS 0.023777 CAP_FILE_SIZE 91941,0

HUMID 1855 CFSIZE 260165632,250994688

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 4 GPS 010708,181358,6219.284,-901.117,35,2.4,54,-9.5

ALTIM_TOP_PING 18.8,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 165 100.22 SBE_CT 428 24 243.77

Roll_motor 106 79 202.19 SBE_O2 397 19 179.13

VBD_pump_during_apogee 392 927 8627.65 WL_BB2F 446 105 1111.13

VBD_pump_during_surface 122 624 1814.09 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 26 160 102.01 nil 0 0 0.00

Iridium_during_xfer 120 223 638.18

Transponder_ping 4 420 44.79

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.96

TT8 1089 19 219.97

LPSleep 9245 2 206.52

TT8_Active 685 19 138.42

TT8_Sampling 1258 39 510.77

TT8_CF8 384 45 179.77

TT8_Kalman 33 81 27.84

Analog_circuits 1338 12 163.85

GPS_charging 0 0 0.00

Compass 1233 8 100.63

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 0 147 0.00 0.00 -120.85 0.000 2 0.000 0.000 64 2313 2909

150 -0.85 -146.6 3.4 -3.0 6 180 11.35 2.72 -11.57 0.000 4 0.166 0.075 2108 882 3380

300 -0.68 -146.6 23.9 -10.4 12 307 0.22 2.60 0.00 0.000 6 0.100 0.055 2150 2294 3380

616 -0.62 -146.6 57.5 -11.2 28 621 0.00 2.65 0.00 0.000 4 0.000 0.062 2150 880 3380

661 -0.62 -146.6 62.4 -10.3 30 665 0.00 2.62 0.00 0.000 6 0.000 0.054 2150 2301 3380

982 -0.55 -146.6 95.4 -10.3 46 988 0.15 2.67 0.00 0.000 4 0.118 0.063 2180 875 3381

1010 -0.60 -146.6 98.0 -8.7 47 1015 0.00 2.65 0.00 0.000 6 0.000 0.055 2180 2304 3380

1327 -0.60 -146.6 125.4 -8.6 62 1329 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2304 3381

1636 -0.60 -146.6 149.5 -7.6 77 1640 0.00 2.67 0.00 0.000 4 0.000 0.064 2180 878 3381

1685 -0.69 -146.6 153.4 -7.4 79 1691 0.15 2.62 0.00 0.000 6 0.044 0.056 2130 2302 3381

2002 -0.57 -146.6 184.0 -9.7 94 2004 0.22 0.00 0.00 0.000 6 0.083 0.000 2175 2302 3381

2310 -0.57 -146.6 206.5 -7.1 109 2315 0.00 2.67 0.00 0.000 4 0.000 0.066 2175 875 3381

2360 -0.64 -146.6 210.1 -7.1 111 2364 0.00 2.62 0.00 0.000 6 0.000 0.057 2175 2300 3381

2676 -0.64 -146.6 233.0 -7.2 126 2681 0.00 2.67 0.00 0.000 4 0.000 0.067 2175 877 3381

2704 -0.70 -146.6 235.2 -7.8 127 2709 0.15 2.62 0.00 0.000 6 0.043 0.057 2126 2299 3382

3019 -0.59 -146.6 267.0 -10.3 142 3025 0.17 2.67 0.00 0.000 4 0.086 0.068 2164 881 3382

3060 -0.64 -146.6 270.5 -8.3 144 3064 0.00 2.62 0.00 0.000 6 0.000 0.058 2165 2300 3381

3386 -0.64 -146.6 295.4 -7.5 160 3387 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2300 3382

3695 -0.64 -146.6 319.7 -7.6 175 3700 0.00 2.65 0.00 0.000 4 0.000 0.068 2165 881 3382

3764 -0.69 -146.6 325.0 -7.9 178 3768 0.00 2.62 0.00 0.000 6 0.000 0.058 2165 2300 3381

4084 -0.69 -146.6 349.8 -8.2 194 4085 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2299 3382

4394 -0.69 -146.6 374.6 -8.1 209 4403 0.00 2.67 0.00 0.000 4 0.000 0.070 2165 874 3381

4448 -0.75 -146.6 379.0 -7.9 211 4454 0.12 2.65 0.00 0.000 6 0.048 0.058 2123 2303 3381

4772 -0.63 -146.6 409.4 -9.2 227 4777 0.15 2.70 0.00 0.000 4 0.087 0.067 2156 877 3381

4800 -0.63 -146.6 411.8 -8.1 228 4804 0.00 2.65 0.00 0.000 6 0.000 0.058 2156 2305 3381

5115 -0.63 -146.6 434.2 -6.9 243 5120 0.00 2.70 0.00 0.000 4 0.000 0.069 2156 873 3381

5155 -0.63 -146.6 436.8 -6.7 245 5160 0.00 2.65 0.00 0.000 6 0.000 0.058 2155 2303 3381

5334 end dive: BOTTOM_OBSTACLE_DETECTED

state 5334 begin apogee

5342 -0.31 0.0 448.9 6.7 254 5477 0.38 0.00 127.93 0.927 6 0.110 0.000 2228 2192 2781

5478 end apogee: CONTROL_FINISHED_OK

state 5478 begin climb

5481 0.85 146.6 454.6 0.0 261 5619 1.23 2.83 126.43 0.913 4 0.082 0.078 2482 3605 2183

5687 0.85 146.6 450.1 6.0 271 5692 0.00 2.65 0.00 0.000 6 0.000 0.061 2482 2196 2182

6014 0.86 160.1 432.4 5.6 287 6036 0.00 2.75 13.05 0.818 4 0.000 0.070 2482 791 2128

6099 0.86 160.1 426.8 6.5 290 6105 0.00 2.62 0.00 0.000 6 0.000 0.056 2483 2201 2127

6415 0.88 178.6 408.1 5.5 306 6439 0.00 2.83 17.17 0.848 4 0.000 0.080 2482 3611 2052

6481 0.94 187.0 404.5 5.8 309 6495 0.00 2.67 8.77 0.768 6 0.000 0.062 2483 2201 2018

6814 1.11 284.0 390.2 3.3 325 6900 0.28 0.00 83.05 0.894 6 0.042 0.000 2553 2202 1624

7202 1.04 284.0 364.8 6.7 344 7208 0.15 2.70 0.00 0.000 4 0.087 0.071 2523 783 1622

7224 1.04 284.0 363.3 6.7 345 7229 0.00 2.65 0.00 0.000 6 0.000 0.055 2523 2206 1621

7546 1.06 301.5 345.9 5.5 361 7565 0.00 0.00 16.17 0.813 6 0.000 0.000 2523 2206 1551

7875 1.06 301.5 325.3 6.6 377 7876 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2206 1551

8184 1.06 301.5 304.0 7.5 392 8189 0.00 2.67 0.00 0.000 4 0.000 0.067 2523 785 1551

8234 1.06 301.5 300.0 8.0 394 8239 0.00 2.62 0.00 0.000 6 0.000 0.054 2522 2206 1550

8549 1.06 301.5 274.8 7.9 409 8551 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2206 1550

8859 1.06 301.5 249.9 8.0 424 8860 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2206 1550

9168 1.06 301.5 224.5 8.0 439 9172 0.00 2.70 0.00 0.000 4 0.000 0.067 2523 778 1550

9195 1.10 301.5 222.3 8.4 440 9200 0.00 2.62 0.00 0.000 6 0.000 0.053 2523 2206 1550

9511 1.10 301.5 199.4 7.5 455 9512 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2206 1550

9820 1.14 301.5 179.1 6.7 470 9822 0.12 0.00 0.00 0.000 6 0.047 0.000 2560 2206 1550

10130 1.08 301.5 152.5 9.1 485 10132 0.15 0.00 0.00 0.000 6 0.084 0.000 2530 2206 1550

10439 1.08 301.5 128.3 7.8 500 10440 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2206 1551

10750 1.08 301.5 105.3 7.1 515 10754 0.00 2.67 0.00 0.000 4 0.000 0.075 2530 3618 1551

10777 1.08 301.5 103.1 7.6 516 10781 0.00 2.60 0.00 0.000 6 0.000 0.058 2530 2200 1550

11093 1.08 301.5 80.9 7.4 531 11094 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2200 1551

11402 1.08 301.5 59.3 6.5 546 11406 0.00 2.67 0.00 0.000 4 0.000 0.074 2530 3619 1551

11435 1.08 301.5 56.9 7.5 547 11441 0.00 2.60 0.00 0.000 6 0.000 0.057 2530 2199 1551

11752 1.08 301.5 35.3 7.6 563 11753 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2199 1551

12060 1.08 301.5 13.5 6.5 578 12064 0.00 2.67 0.00 0.000 4 0.000 0.074 2530 3613 1552

12087 1.08 301.5 11.0 9.0 579 12091 0.00 2.58 0.00 0.000 6 0.000 0.054 2530 2199 1552

12215 end climb: SURFACE_DEPTH_REACHED

state 12215 begin surface coast

12237 end surface coast: CONTROL_FINISHED_OK

state 12237 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	119	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	24	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	-2095438.2	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	144037,6217.492,-900.433,39,1.8,44,-9.5	TGT_NAME	B1
_CALLS	1	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.210,-0.067
_SM_DEPTHo	1.01	KALMAN_X	-168070.1,-581.6,331.5,-33731.0,-4096.5
_SM_ANGLEo	-51.2	KALMAN_Y	10320.6,-4055.6,-544.5,160898.3,54112.7
GPS2	144509,6217.565,-900.549,13,1.8,13,-9.5	MHEAD_RNG_PITCHd_Wd	192.5,57611,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027148	ALTIM_BOTTOM_PING	400.0,58.3
SM_CCo	12259,122.60,0.624,0,0,509,557.32	_24V_AH	23.7,22.368
SM_GC	1.03,0.00,0.00,122.60,0.000,0.000,0.624,63,2320,509,-10.29,0.57,557.32	_10V_AH	10.2,11.236
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28553,586
TT8_MAMPS	0.023777	CAP_FILE_SIZE	91941,0
HUMID	1855	CFSIZE	260165632,250994688
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	4	GPS	010708,181358,6219.284,-901.117,35,2.4,54,-9.5
ALTIM_TOP_PING	18.8,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	165	100.22	SBE_CT	428	24	243.77
Roll_motor	106	79	202.19	SBE_O2	397	19	179.13
VBD_pump_during_apogee	392	927	8627.65	WL_BB2F	446	105	1111.13
VBD_pump_during_surface	122	624	1814.09	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	26	160	102.01	nil	0	0	0.00
Iridium_during_xfer	120	223	638.18
Transponder_ping	4	420	44.79
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.96
TT8	1089	19	219.97
LPSleep	9245	2	206.52
TT8_Active	685	19	138.42
TT8_Sampling	1258	39	510.77
TT8_CF8	384	45	179.77
TT8_Kalman	33	81	27.84
Analog_circuits	1338	12	163.85
GPS_charging	0	0	0.00
Compass	1233	8	100.63
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	147	0.00	0.00	-120.85	0.000	2	0.000	0.000	64	2313	2909
150	-0.85	-146.6	3.4	-3.0	6	180	11.35	2.72	-11.57	0.000	4	0.166	0.075	2108	882	3380
300	-0.68	-146.6	23.9	-10.4	12	307	0.22	2.60	0.00	0.000	6	0.100	0.055	2150	2294	3380
616	-0.62	-146.6	57.5	-11.2	28	621	0.00	2.65	0.00	0.000	4	0.000	0.062	2150	880	3380
661	-0.62	-146.6	62.4	-10.3	30	665	0.00	2.62	0.00	0.000	6	0.000	0.054	2150	2301	3380
982	-0.55	-146.6	95.4	-10.3	46	988	0.15	2.67	0.00	0.000	4	0.118	0.063	2180	875	3381
1010	-0.60	-146.6	98.0	-8.7	47	1015	0.00	2.65	0.00	0.000	6	0.000	0.055	2180	2304	3380
1327	-0.60	-146.6	125.4	-8.6	62	1329	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2304	3381
1636	-0.60	-146.6	149.5	-7.6	77	1640	0.00	2.67	0.00	0.000	4	0.000	0.064	2180	878	3381
1685	-0.69	-146.6	153.4	-7.4	79	1691	0.15	2.62	0.00	0.000	6	0.044	0.056	2130	2302	3381
2002	-0.57	-146.6	184.0	-9.7	94	2004	0.22	0.00	0.00	0.000	6	0.083	0.000	2175	2302	3381
2310	-0.57	-146.6	206.5	-7.1	109	2315	0.00	2.67	0.00	0.000	4	0.000	0.066	2175	875	3381
2360	-0.64	-146.6	210.1	-7.1	111	2364	0.00	2.62	0.00	0.000	6	0.000	0.057	2175	2300	3381
2676	-0.64	-146.6	233.0	-7.2	126	2681	0.00	2.67	0.00	0.000	4	0.000	0.067	2175	877	3381
2704	-0.70	-146.6	235.2	-7.8	127	2709	0.15	2.62	0.00	0.000	6	0.043	0.057	2126	2299	3382
3019	-0.59	-146.6	267.0	-10.3	142	3025	0.17	2.67	0.00	0.000	4	0.086	0.068	2164	881	3382
3060	-0.64	-146.6	270.5	-8.3	144	3064	0.00	2.62	0.00	0.000	6	0.000	0.058	2165	2300	3381
3386	-0.64	-146.6	295.4	-7.5	160	3387	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2300	3382
3695	-0.64	-146.6	319.7	-7.6	175	3700	0.00	2.65	0.00	0.000	4	0.000	0.068	2165	881	3382
3764	-0.69	-146.6	325.0	-7.9	178	3768	0.00	2.62	0.00	0.000	6	0.000	0.058	2165	2300	3381
4084	-0.69	-146.6	349.8	-8.2	194	4085	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2299	3382
4394	-0.69	-146.6	374.6	-8.1	209	4403	0.00	2.67	0.00	0.000	4	0.000	0.070	2165	874	3381
4448	-0.75	-146.6	379.0	-7.9	211	4454	0.12	2.65	0.00	0.000	6	0.048	0.058	2123	2303	3381
4772	-0.63	-146.6	409.4	-9.2	227	4777	0.15	2.70	0.00	0.000	4	0.087	0.067	2156	877	3381
4800	-0.63	-146.6	411.8	-8.1	228	4804	0.00	2.65	0.00	0.000	6	0.000	0.058	2156	2305	3381
5115	-0.63	-146.6	434.2	-6.9	243	5120	0.00	2.70	0.00	0.000	4	0.000	0.069	2156	873	3381
5155	-0.63	-146.6	436.8	-6.7	245	5160	0.00	2.65	0.00	0.000	6	0.000	0.058	2155	2303	3381
5334	end dive: BOTTOM_OBSTACLE_DETECTED
state	5334	begin apogee
5342	-0.31	0.0	448.9	6.7	254	5477	0.38	0.00	127.93	0.927	6	0.110	0.000	2228	2192	2781
5478	end apogee: CONTROL_FINISHED_OK
state	5478	begin climb
5481	0.85	146.6	454.6	0.0	261	5619	1.23	2.83	126.43	0.913	4	0.082	0.078	2482	3605	2183
5687	0.85	146.6	450.1	6.0	271	5692	0.00	2.65	0.00	0.000	6	0.000	0.061	2482	2196	2182
6014	0.86	160.1	432.4	5.6	287	6036	0.00	2.75	13.05	0.818	4	0.000	0.070	2482	791	2128
6099	0.86	160.1	426.8	6.5	290	6105	0.00	2.62	0.00	0.000	6	0.000	0.056	2483	2201	2127
6415	0.88	178.6	408.1	5.5	306	6439	0.00	2.83	17.17	0.848	4	0.000	0.080	2482	3611	2052
6481	0.94	187.0	404.5	5.8	309	6495	0.00	2.67	8.77	0.768	6	0.000	0.062	2483	2201	2018
6814	1.11	284.0	390.2	3.3	325	6900	0.28	0.00	83.05	0.894	6	0.042	0.000	2553	2202	1624
7202	1.04	284.0	364.8	6.7	344	7208	0.15	2.70	0.00	0.000	4	0.087	0.071	2523	783	1622
7224	1.04	284.0	363.3	6.7	345	7229	0.00	2.65	0.00	0.000	6	0.000	0.055	2523	2206	1621
7546	1.06	301.5	345.9	5.5	361	7565	0.00	0.00	16.17	0.813	6	0.000	0.000	2523	2206	1551
7875	1.06	301.5	325.3	6.6	377	7876	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2206	1551
8184	1.06	301.5	304.0	7.5	392	8189	0.00	2.67	0.00	0.000	4	0.000	0.067	2523	785	1551
8234	1.06	301.5	300.0	8.0	394	8239	0.00	2.62	0.00	0.000	6	0.000	0.054	2522	2206	1550
8549	1.06	301.5	274.8	7.9	409	8551	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2206	1550
8859	1.06	301.5	249.9	8.0	424	8860	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2206	1550
9168	1.06	301.5	224.5	8.0	439	9172	0.00	2.70	0.00	0.000	4	0.000	0.067	2523	778	1550
9195	1.10	301.5	222.3	8.4	440	9200	0.00	2.62	0.00	0.000	6	0.000	0.053	2523	2206	1550
9511	1.10	301.5	199.4	7.5	455	9512	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2206	1550
9820	1.14	301.5	179.1	6.7	470	9822	0.12	0.00	0.00	0.000	6	0.047	0.000	2560	2206	1550
10130	1.08	301.5	152.5	9.1	485	10132	0.15	0.00	0.00	0.000	6	0.084	0.000	2530	2206	1550
10439	1.08	301.5	128.3	7.8	500	10440	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2206	1551
10750	1.08	301.5	105.3	7.1	515	10754	0.00	2.67	0.00	0.000	4	0.000	0.075	2530	3618	1551
10777	1.08	301.5	103.1	7.6	516	10781	0.00	2.60	0.00	0.000	6	0.000	0.058	2530	2200	1550
11093	1.08	301.5	80.9	7.4	531	11094	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2200	1551
11402	1.08	301.5	59.3	6.5	546	11406	0.00	2.67	0.00	0.000	4	0.000	0.074	2530	3619	1551
11435	1.08	301.5	56.9	7.5	547	11441	0.00	2.60	0.00	0.000	6	0.000	0.057	2530	2199	1551
11752	1.08	301.5	35.3	7.6	563	11753	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2199	1551
12060	1.08	301.5	13.5	6.5	578	12064	0.00	2.67	0.00	0.000	4	0.000	0.074	2530	3613	1552
12087	1.08	301.5	11.0	9.0	579	12091	0.00	2.58	0.00	0.000	6	0.000	0.054	2530	2199	1552
12215	end climb: SURFACE_DEPTH_REACHED
state	12215	begin surface coast
12237	end surface coast: CONTROL_FINISHED_OK
state	12237	begin surface