Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 122 * 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 122 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 14 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 -2095502.8 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 -2095502.8

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 14 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 122 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 020237,6219.826,-857.025,39,1.0,39,-9.5 TGT_NAME B1

_CALLS 3 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.006,-0.221

_SM_DEPTHo 1.02 KALMAN_X -171820.7,2460.6,-559.0,-29179.5,-8703.5

_SM_ANGLEo -53.6 KALMAN_Y 15387.9,-2007.3,-2266.8,159713.7,40053.9

GPS2 021353,6219.842,-857.231,13,2.1,32,-9.5 MHEAD_RNG_PITCHd_Wd 195.0,62034,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.023004 ALTIM_BOTTOM_PING 400.4,49.5

SM_CCo 11887,124.97,0.627,0,0,508,557.32 _24V_AH 23.7,22.789

SM_GC 1.05,0.00,0.00,124.97,0.000,0.000,0.627,64,2311,508,-10.28,0.31,557.32 _10V_AH 10.2,11.441

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28516,573

TT8_MAMPS 0.02301 CAP_FILE_SIZE 103707,0

HUMID 1858 CFSIZE 260165632,250830848

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 10 GPS 020708,053608,6220.507,-856.899,32,1.2,32,-9.5

ALTIM_TOP_PING 19.2,17.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 165 100.91 SBE_CT 419 24 238.71

Roll_motor 132 76 240.49 SBE_O2 389 19 175.26

VBD_pump_during_apogee 386 921 8447.69 WL_BB2F 470 105 1171.20

VBD_pump_during_surface 124 626 1856.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 133.13 nil 0 0 0.00

Iridium_during_connect 87 160 333.60 nil 0 0 0.00

Iridium_during_xfer 262 223 1389.23

Transponder_ping 5 420 57.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.01

TT8 1099 19 222.00

LPSleep 8896 2 198.74

TT8_Active 669 19 135.30

TT8_Sampling 1374 39 557.91

TT8_CF8 653 45 305.11

TT8_Kalman 33 81 27.83

Analog_circuits 1382 12 169.17

GPS_charging 0 0 0.00

Compass 1326 8 108.28

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 0 147 0.00 0.00 -121.07 0.000 2 0.000 0.000 65 2308 2944

150 -0.85 -146.6 3.7 -3.1 6 180 11.35 2.67 -10.25 0.000 4 0.166 0.074 2107 874 3380

308 -0.71 -146.6 23.4 -9.8 13 313 0.20 2.62 0.00 0.000 6 0.094 0.053 2146 2303 3380

637 -0.62 -146.6 44.3 -5.9 29 641 0.00 2.65 0.00 0.000 4 0.000 0.062 2146 878 3380

748 -0.62 -146.6 51.6 -6.9 34 752 0.00 2.60 0.00 0.000 6 0.000 0.052 2146 2299 3380

1071 -0.55 -146.6 72.8 -6.2 50 1076 0.15 2.65 0.00 0.000 4 0.091 0.063 2179 878 3380

1105 -0.63 -146.6 74.3 -3.5 51 1111 0.00 2.60 0.00 0.000 6 0.000 0.052 2179 2301 3380

1423 -0.63 -146.6 83.7 -3.0 67 1427 0.00 2.65 0.00 0.000 4 0.000 0.064 2179 877 3380

1456 -0.69 -146.6 85.0 -3.6 68 1463 0.15 2.60 0.00 0.000 6 0.042 0.053 2130 2300 3380

1773 -0.58 -146.6 103.4 -5.8 84 1778 0.17 2.65 0.00 0.000 4 0.084 0.064 2169 877 3380

1819 -0.63 -146.6 105.4 -4.0 86 1823 0.00 2.60 0.00 0.000 6 0.000 0.053 2169 2299 3380

2140 -0.63 -146.6 117.0 -3.7 102 2144 0.00 2.65 0.00 0.000 4 0.000 0.064 2169 878 3380

2185 -0.68 -146.6 119.0 -4.4 104 2189 0.00 2.60 0.00 0.000 6 0.000 0.053 2169 2298 3380

2506 -0.68 -146.6 131.0 -3.6 120 2511 0.00 2.65 0.00 0.000 4 0.000 0.064 2169 875 3380

2540 -0.72 -146.6 132.2 -3.5 121 2547 0.12 2.60 0.00 0.000 6 0.046 0.054 2126 2302 3380

2859 -0.61 -146.6 151.3 -6.4 137 2864 0.17 2.67 0.00 0.000 4 0.085 0.065 2164 873 3380

2900 -0.65 -146.6 153.7 -4.8 139 2904 0.00 2.62 0.00 0.000 6 0.000 0.054 2164 2302 3381

3226 -0.65 -146.6 169.6 -5.3 155 3231 0.00 2.65 0.00 0.000 4 0.000 0.065 2164 878 3381

3277 -0.65 -146.6 172.6 -6.0 157 3281 0.00 2.60 0.00 0.000 6 0.000 0.054 2164 2303 3380

3592 -0.65 -146.6 193.7 -7.1 172 3594 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2303 3380

3902 -0.65 -146.6 217.8 -7.7 187 3906 0.00 2.65 0.00 0.000 4 0.000 0.067 2164 877 3379

3964 -0.65 -146.6 222.7 -7.9 190 3968 0.00 2.60 0.00 0.000 6 0.000 0.054 2164 2298 3380

4290 -0.65 -146.6 248.1 -7.8 206 4291 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2299 3380

4600 -0.65 -146.6 273.5 -8.3 221 4604 0.00 2.65 0.00 0.000 4 0.000 0.067 2164 878 3380

4644 -0.70 -146.6 277.4 -8.2 223 4649 0.00 2.60 0.00 0.000 6 0.000 0.054 2164 2301 3380

4965 -0.70 -146.6 304.2 -8.0 239 4970 0.00 2.67 0.00 0.000 4 0.000 0.067 2164 870 3380

5022 -0.74 -146.6 308.7 -7.7 241 5028 0.12 2.62 0.00 0.000 6 0.048 0.054 2123 2304 3380

5338 -0.62 -146.6 343.0 -11.9 257 5343 0.17 2.65 0.00 0.000 4 0.086 0.075 2160 3710 3380

5377 -0.62 -146.6 347.6 -11.2 259 5382 0.00 2.62 0.00 0.000 6 0.000 0.058 2160 2289 3380

5704 -0.62 -146.6 380.7 -9.6 275 5709 0.00 2.62 0.00 0.000 4 0.000 0.069 2160 880 3380

5805 -0.68 -146.6 390.8 -10.1 279 5811 0.00 2.60 0.00 0.000 6 0.000 0.055 2160 2300 3380

6121 -0.68 -146.6 417.3 -7.4 295 6125 0.00 2.65 0.00 0.000 4 0.000 0.068 2160 881 3380

6176 -0.68 -146.6 422.0 -9.6 297 6182 0.00 2.60 0.00 0.000 6 0.000 0.056 2160 2300 3380

6427 end dive: BOTTOM_OBSTACLE_DETECTED

state 6427 begin apogee

6434 -0.31 0.0 440.1 6.4 310 6564 0.35 0.00 127.15 0.922 6 0.084 0.000 2232 2190 2782

6565 end apogee: CONTROL_FINISHED_OK

state 6565 begin climb

6568 0.85 146.6 445.2 0.0 316 6704 1.15 2.75 125.95 0.907 4 0.074 0.065 2478 785 2183

6726 0.85 146.6 440.4 8.5 324 6730 0.00 2.65 0.00 0.000 6 0.000 0.052 2478 2204 2183

7042 0.87 167.1 422.2 5.4 339 7066 0.00 2.75 18.85 0.841 4 0.000 0.077 2478 3612 2099

7242 0.92 167.1 411.3 6.2 348 7247 0.10 2.65 0.00 0.000 6 0.053 0.061 2513 2200 2099

7569 0.92 167.1 390.4 6.3 364 7574 0.00 2.65 0.00 0.000 4 0.000 0.071 2513 783 2099

7625 0.88 167.1 386.8 6.5 366 7632 0.12 2.62 0.00 0.000 6 0.084 0.053 2487 2206 2099

7941 0.95 237.9 372.4 4.1 382 8007 0.00 2.75 60.75 0.875 4 0.000 0.067 2487 776 1810

8036 1.09 290.3 368.4 4.6 386 8088 0.22 2.65 45.47 0.857 6 0.042 0.052 2545 2203 1597

8410 1.05 290.3 340.2 8.2 405 8411 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2203 1595

8719 1.00 290.3 316.5 7.6 420 8721 0.15 0.00 0.00 0.000 6 0.083 0.000 2515 2203 1595

9029 1.05 298.7 298.7 5.8 435 9039 0.00 0.00 8.45 0.713 6 0.000 0.000 2515 2203 1563

9338 1.10 298.7 278.8 6.7 450 9343 0.10 2.70 0.00 0.000 4 0.051 0.067 2548 779 1562

9382 1.10 298.7 275.1 8.7 452 9386 0.00 2.62 0.00 0.000 6 0.000 0.052 2547 2206 1561

9704 1.05 298.7 246.4 9.1 468 9708 0.00 2.67 0.00 0.000 4 0.000 0.074 2547 3617 1562

9721 1.01 298.7 244.7 9.6 469 9726 0.15 2.62 0.00 0.000 6 0.084 0.061 2518 2200 1562

10048 1.06 298.7 217.1 8.9 485 10052 0.00 2.62 0.00 0.000 4 0.000 0.067 2518 782 1562

10070 1.11 298.7 215.0 9.4 486 10075 0.10 2.58 0.00 0.000 6 0.057 0.051 2542 2201 1562

10391 1.11 298.7 177.3 12.7 502 10392 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2201 1561

10701 1.11 298.7 134.8 14.0 517 10705 0.00 2.65 0.00 0.000 4 0.000 0.074 2542 3613 1562

10733 1.11 298.7 129.8 15.9 518 10739 0.00 2.60 0.00 0.000 6 0.000 0.059 2543 2200 1561

11051 1.11 298.7 85.5 12.9 534 11052 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2200 1562

11358 1.11 298.7 47.6 11.1 549 11363 0.00 2.62 0.00 0.000 4 0.000 0.066 2543 781 1562

11386 1.11 298.7 44.3 11.1 550 11390 0.00 2.58 0.00 0.000 6 0.000 0.051 2543 2201 1561

11702 1.11 298.7 13.8 8.6 565 11707 0.00 2.65 0.00 0.000 4 0.000 0.072 2542 3619 1562

11735 1.11 298.7 10.4 11.0 566 11741 0.00 2.60 0.00 0.000 6 0.000 0.058 2543 2199 1562

11842 end climb: SURFACE_DEPTH_REACHED

state 11842 begin surface coast

11865 end surface coast: CONTROL_FINISHED_OK

state 11865 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	122	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	14	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	-2095502.8	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	020237,6219.826,-857.025,39,1.0,39,-9.5	TGT_NAME	B1
_CALLS	3	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.006,-0.221
_SM_DEPTHo	1.02	KALMAN_X	-171820.7,2460.6,-559.0,-29179.5,-8703.5
_SM_ANGLEo	-53.6	KALMAN_Y	15387.9,-2007.3,-2266.8,159713.7,40053.9
GPS2	021353,6219.842,-857.231,13,2.1,32,-9.5	MHEAD_RNG_PITCHd_Wd	195.0,62034,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.023004	ALTIM_BOTTOM_PING	400.4,49.5
SM_CCo	11887,124.97,0.627,0,0,508,557.32	_24V_AH	23.7,22.789
SM_GC	1.05,0.00,0.00,124.97,0.000,0.000,0.627,64,2311,508,-10.28,0.31,557.32	_10V_AH	10.2,11.441
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28516,573
TT8_MAMPS	0.02301	CAP_FILE_SIZE	103707,0
HUMID	1858	CFSIZE	260165632,250830848
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	10	GPS	020708,053608,6220.507,-856.899,32,1.2,32,-9.5
ALTIM_TOP_PING	19.2,17.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	165	100.91	SBE_CT	419	24	238.71
Roll_motor	132	76	240.49	SBE_O2	389	19	175.26
VBD_pump_during_apogee	386	921	8447.69	WL_BB2F	470	105	1171.20
VBD_pump_during_surface	124	626	1856.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	133.13	nil	0	0	0.00
Iridium_during_connect	87	160	333.60	nil	0	0	0.00
Iridium_during_xfer	262	223	1389.23
Transponder_ping	5	420	57.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.01
TT8	1099	19	222.00
LPSleep	8896	2	198.74
TT8_Active	669	19	135.30
TT8_Sampling	1374	39	557.91
TT8_CF8	653	45	305.11
TT8_Kalman	33	81	27.83
Analog_circuits	1382	12	169.17
GPS_charging	0	0	0.00
Compass	1326	8	108.28
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	147	0.00	0.00	-121.07	0.000	2	0.000	0.000	65	2308	2944
150	-0.85	-146.6	3.7	-3.1	6	180	11.35	2.67	-10.25	0.000	4	0.166	0.074	2107	874	3380
308	-0.71	-146.6	23.4	-9.8	13	313	0.20	2.62	0.00	0.000	6	0.094	0.053	2146	2303	3380
637	-0.62	-146.6	44.3	-5.9	29	641	0.00	2.65	0.00	0.000	4	0.000	0.062	2146	878	3380
748	-0.62	-146.6	51.6	-6.9	34	752	0.00	2.60	0.00	0.000	6	0.000	0.052	2146	2299	3380
1071	-0.55	-146.6	72.8	-6.2	50	1076	0.15	2.65	0.00	0.000	4	0.091	0.063	2179	878	3380
1105	-0.63	-146.6	74.3	-3.5	51	1111	0.00	2.60	0.00	0.000	6	0.000	0.052	2179	2301	3380
1423	-0.63	-146.6	83.7	-3.0	67	1427	0.00	2.65	0.00	0.000	4	0.000	0.064	2179	877	3380
1456	-0.69	-146.6	85.0	-3.6	68	1463	0.15	2.60	0.00	0.000	6	0.042	0.053	2130	2300	3380
1773	-0.58	-146.6	103.4	-5.8	84	1778	0.17	2.65	0.00	0.000	4	0.084	0.064	2169	877	3380
1819	-0.63	-146.6	105.4	-4.0	86	1823	0.00	2.60	0.00	0.000	6	0.000	0.053	2169	2299	3380
2140	-0.63	-146.6	117.0	-3.7	102	2144	0.00	2.65	0.00	0.000	4	0.000	0.064	2169	878	3380
2185	-0.68	-146.6	119.0	-4.4	104	2189	0.00	2.60	0.00	0.000	6	0.000	0.053	2169	2298	3380
2506	-0.68	-146.6	131.0	-3.6	120	2511	0.00	2.65	0.00	0.000	4	0.000	0.064	2169	875	3380
2540	-0.72	-146.6	132.2	-3.5	121	2547	0.12	2.60	0.00	0.000	6	0.046	0.054	2126	2302	3380
2859	-0.61	-146.6	151.3	-6.4	137	2864	0.17	2.67	0.00	0.000	4	0.085	0.065	2164	873	3380
2900	-0.65	-146.6	153.7	-4.8	139	2904	0.00	2.62	0.00	0.000	6	0.000	0.054	2164	2302	3381
3226	-0.65	-146.6	169.6	-5.3	155	3231	0.00	2.65	0.00	0.000	4	0.000	0.065	2164	878	3381
3277	-0.65	-146.6	172.6	-6.0	157	3281	0.00	2.60	0.00	0.000	6	0.000	0.054	2164	2303	3380
3592	-0.65	-146.6	193.7	-7.1	172	3594	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2303	3380
3902	-0.65	-146.6	217.8	-7.7	187	3906	0.00	2.65	0.00	0.000	4	0.000	0.067	2164	877	3379
3964	-0.65	-146.6	222.7	-7.9	190	3968	0.00	2.60	0.00	0.000	6	0.000	0.054	2164	2298	3380
4290	-0.65	-146.6	248.1	-7.8	206	4291	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2299	3380
4600	-0.65	-146.6	273.5	-8.3	221	4604	0.00	2.65	0.00	0.000	4	0.000	0.067	2164	878	3380
4644	-0.70	-146.6	277.4	-8.2	223	4649	0.00	2.60	0.00	0.000	6	0.000	0.054	2164	2301	3380
4965	-0.70	-146.6	304.2	-8.0	239	4970	0.00	2.67	0.00	0.000	4	0.000	0.067	2164	870	3380
5022	-0.74	-146.6	308.7	-7.7	241	5028	0.12	2.62	0.00	0.000	6	0.048	0.054	2123	2304	3380
5338	-0.62	-146.6	343.0	-11.9	257	5343	0.17	2.65	0.00	0.000	4	0.086	0.075	2160	3710	3380
5377	-0.62	-146.6	347.6	-11.2	259	5382	0.00	2.62	0.00	0.000	6	0.000	0.058	2160	2289	3380
5704	-0.62	-146.6	380.7	-9.6	275	5709	0.00	2.62	0.00	0.000	4	0.000	0.069	2160	880	3380
5805	-0.68	-146.6	390.8	-10.1	279	5811	0.00	2.60	0.00	0.000	6	0.000	0.055	2160	2300	3380
6121	-0.68	-146.6	417.3	-7.4	295	6125	0.00	2.65	0.00	0.000	4	0.000	0.068	2160	881	3380
6176	-0.68	-146.6	422.0	-9.6	297	6182	0.00	2.60	0.00	0.000	6	0.000	0.056	2160	2300	3380
6427	end dive: BOTTOM_OBSTACLE_DETECTED
state	6427	begin apogee
6434	-0.31	0.0	440.1	6.4	310	6564	0.35	0.00	127.15	0.922	6	0.084	0.000	2232	2190	2782
6565	end apogee: CONTROL_FINISHED_OK
state	6565	begin climb
6568	0.85	146.6	445.2	0.0	316	6704	1.15	2.75	125.95	0.907	4	0.074	0.065	2478	785	2183
6726	0.85	146.6	440.4	8.5	324	6730	0.00	2.65	0.00	0.000	6	0.000	0.052	2478	2204	2183
7042	0.87	167.1	422.2	5.4	339	7066	0.00	2.75	18.85	0.841	4	0.000	0.077	2478	3612	2099
7242	0.92	167.1	411.3	6.2	348	7247	0.10	2.65	0.00	0.000	6	0.053	0.061	2513	2200	2099
7569	0.92	167.1	390.4	6.3	364	7574	0.00	2.65	0.00	0.000	4	0.000	0.071	2513	783	2099
7625	0.88	167.1	386.8	6.5	366	7632	0.12	2.62	0.00	0.000	6	0.084	0.053	2487	2206	2099
7941	0.95	237.9	372.4	4.1	382	8007	0.00	2.75	60.75	0.875	4	0.000	0.067	2487	776	1810
8036	1.09	290.3	368.4	4.6	386	8088	0.22	2.65	45.47	0.857	6	0.042	0.052	2545	2203	1597
8410	1.05	290.3	340.2	8.2	405	8411	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2203	1595
8719	1.00	290.3	316.5	7.6	420	8721	0.15	0.00	0.00	0.000	6	0.083	0.000	2515	2203	1595
9029	1.05	298.7	298.7	5.8	435	9039	0.00	0.00	8.45	0.713	6	0.000	0.000	2515	2203	1563
9338	1.10	298.7	278.8	6.7	450	9343	0.10	2.70	0.00	0.000	4	0.051	0.067	2548	779	1562
9382	1.10	298.7	275.1	8.7	452	9386	0.00	2.62	0.00	0.000	6	0.000	0.052	2547	2206	1561
9704	1.05	298.7	246.4	9.1	468	9708	0.00	2.67	0.00	0.000	4	0.000	0.074	2547	3617	1562
9721	1.01	298.7	244.7	9.6	469	9726	0.15	2.62	0.00	0.000	6	0.084	0.061	2518	2200	1562
10048	1.06	298.7	217.1	8.9	485	10052	0.00	2.62	0.00	0.000	4	0.000	0.067	2518	782	1562
10070	1.11	298.7	215.0	9.4	486	10075	0.10	2.58	0.00	0.000	6	0.057	0.051	2542	2201	1562
10391	1.11	298.7	177.3	12.7	502	10392	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2201	1561
10701	1.11	298.7	134.8	14.0	517	10705	0.00	2.65	0.00	0.000	4	0.000	0.074	2542	3613	1562
10733	1.11	298.7	129.8	15.9	518	10739	0.00	2.60	0.00	0.000	6	0.000	0.059	2543	2200	1561
11051	1.11	298.7	85.5	12.9	534	11052	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2200	1562
11358	1.11	298.7	47.6	11.1	549	11363	0.00	2.62	0.00	0.000	4	0.000	0.066	2543	781	1562
11386	1.11	298.7	44.3	11.1	550	11390	0.00	2.58	0.00	0.000	6	0.000	0.051	2543	2201	1561
11702	1.11	298.7	13.8	8.6	565	11707	0.00	2.65	0.00	0.000	4	0.000	0.072	2542	3619	1562
11735	1.11	298.7	10.4	11.0	566	11741	0.00	2.60	0.00	0.000	6	0.000	0.058	2543	2199	1562
11842	end climb: SURFACE_DEPTH_REACHED
state	11842	begin surface coast
11865	end surface coast: CONTROL_FINISHED_OK
state	11865	begin surface