Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 125 * 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 125 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 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 -2095566.2 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 -2095566.2

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 15 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 125 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 130526,6221.505,-848.518,42,1.1,42,-9.4 TGT_NAME B1

_CALLS 1 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.06 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -53.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 131009,6221.493,-848.529,15,1.4,15,-9.4 MHEAD_RNG_PITCHd_Wd 201.2,66208,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.014972 ALTIM_BOTTOM_PING 326.0,67.7

SM_CCo 11516,78.78,0.623,0,0,509,557.32 _24V_AH 23.7,23.203

SM_GC 0.94,0.00,0.00,78.78,0.000,0.000,0.623,72,2307,509,-10.24,0.20,557.32 _10V_AH 10.2,11.638

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28633,552

TT8_MAMPS 0.023777 CAP_FILE_SIZE 95967,0

HUMID 1874 CFSIZE 260165632,250687488

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 2 GPS 020708,162532,6220.001,-851.463,37,1.6,37,-9.4

ALTIM_TOP_PING 18.6,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 164 99.29 SBE_CT 410 24 233.25

Roll_motor 137 76 250.45 SBE_O2 374 19 168.66

VBD_pump_during_apogee 465 888 9798.81 WL_BB2F 465 105 1157.42

VBD_pump_during_surface 78 622 1162.75 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 27 160 104.53 nil 0 0 0.00

Iridium_during_xfer 124 223 656.29

Transponder_ping 3 420 29.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.70

TT8 1048 19 211.65

LPSleep 8502 2 189.93

TT8_Active 701 19 141.64

TT8_Sampling 1234 39 501.05

TT8_CF8 396 45 185.34

TT8_Kalman 33 81 27.84

Analog_circuits 1371 12 167.93

GPS_charging 0 0 0.00

Compass 1208 8 98.63

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 0 146 0.00 0.00 -120.65 0.000 2 0.000 0.000 69 2313 2919

150 -0.85 -146.6 3.4 -2.9 6 180 11.32 2.70 -11.60 0.000 4 0.164 0.074 2110 880 3380

209 -0.68 -146.6 12.8 -10.3 8 216 0.22 2.62 0.00 0.000 6 0.097 0.055 2153 2298 3380

525 -0.62 -146.6 37.7 -8.0 24 530 0.00 2.67 0.00 0.000 4 0.000 0.072 2153 3718 3380

559 -0.58 -146.6 40.5 -8.2 25 565 0.00 2.60 0.00 0.000 6 0.000 0.051 2153 2291 3381

877 -0.53 -146.6 61.2 -6.0 41 882 0.15 2.62 0.00 0.000 4 0.116 0.064 2183 883 3380

928 -0.63 -146.6 63.8 -4.2 43 932 0.00 2.60 0.00 0.000 6 0.000 0.054 2183 2301 3380

1246 -0.63 -146.6 78.3 -4.5 58 1250 0.00 2.65 0.00 0.000 4 0.000 0.063 2183 884 3380

1279 -0.71 -146.6 80.0 -4.9 59 1286 0.17 2.60 0.00 0.000 6 0.041 0.054 2126 2302 3380

1596 -0.60 -146.6 101.9 -7.2 75 1601 0.17 2.65 0.00 0.000 4 0.083 0.063 2166 884 3380

1636 -0.65 -146.6 104.5 -6.3 77 1640 0.00 2.60 0.00 0.000 6 0.000 0.055 2165 2302 3380

1963 -0.65 -146.6 124.5 -6.2 93 1967 0.00 2.65 0.00 0.000 4 0.000 0.064 2166 883 3381

1990 -0.65 -146.6 126.3 -6.3 94 1994 0.00 2.60 0.00 0.000 6 0.000 0.056 2166 2300 3380

2307 -0.65 -146.6 145.2 -6.2 109 2312 0.00 2.65 0.00 0.000 4 0.000 0.065 2166 884 3380

2335 -0.65 -146.6 146.9 -6.3 110 2340 0.00 2.60 0.00 0.000 6 0.000 0.055 2165 2302 3381

2651 -0.65 -146.6 165.6 -5.8 125 2652 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2302 3381

2960 -0.65 -146.6 185.6 -6.9 140 2964 0.00 2.65 0.00 0.000 4 0.000 0.066 2166 884 3381

3000 -0.70 -146.6 188.6 -7.2 142 3004 0.00 2.60 0.00 0.000 6 0.000 0.057 2165 2305 3380

3326 -0.70 -146.6 211.8 -6.6 158 3331 0.00 2.67 0.00 0.000 4 0.000 0.066 2166 880 3380

3360 -0.70 -146.6 214.1 -6.1 159 3366 0.00 2.62 0.00 0.000 6 0.000 0.056 2165 2307 3380

3675 -0.70 -146.6 237.3 -7.7 175 3680 0.00 2.67 0.00 0.000 4 0.000 0.066 2165 883 3380

3716 -0.74 -146.6 240.5 -7.8 177 3721 0.12 2.60 0.00 0.000 6 0.046 0.056 2124 2299 3380

4043 -0.63 -146.6 270.6 -9.5 193 4045 0.17 0.00 0.00 0.000 6 0.085 0.000 2159 2299 3380

4351 -0.63 -146.6 294.2 -7.5 208 4356 0.00 2.65 0.00 0.000 4 0.000 0.067 2159 884 3380

4396 -0.63 -146.6 297.4 -6.6 210 4400 0.00 2.60 0.00 0.000 6 0.000 0.057 2159 2299 3380

4717 -0.63 -146.6 316.5 -5.6 226 4722 0.00 2.67 0.00 0.000 4 0.000 0.067 2159 877 3380

4757 -0.63 -146.6 318.8 -5.7 228 4762 0.00 2.60 0.00 0.000 6 0.000 0.057 2158 2300 3380

5085 -0.63 -146.6 338.7 -6.1 244 5089 0.00 2.67 0.00 0.000 4 0.000 0.068 2159 877 3380

5134 -0.63 -146.6 342.1 -7.5 246 5139 0.00 2.62 0.00 0.000 6 0.000 0.058 2159 2302 3380

5450 -0.63 -146.6 363.9 -6.7 261 5455 0.00 2.67 0.00 0.000 4 0.000 0.068 2159 882 3380

5500 -0.63 -146.6 367.5 -7.2 263 5505 0.00 2.60 0.00 0.000 6 0.000 0.057 2159 2300 3380

5731 end dive: BOTTOM_OBSTACLE_DETECTED

state 5731 begin apogee

5738 -0.31 0.0 384.2 7.4 274 5867 0.35 0.00 125.70 0.889 6 0.103 0.000 2227 2202 2781

5868 end apogee: CONTROL_FINISHED_OK

state 5868 begin climb

5871 0.85 146.6 389.5 0.0 280 6003 1.20 2.72 124.90 0.872 4 0.077 0.064 2481 782 2183

6035 0.90 198.4 386.4 4.6 288 6085 0.00 2.65 44.45 0.844 6 0.000 0.054 2481 2202 1973

6404 1.03 233.0 366.7 5.1 306 6440 0.17 2.75 30.60 0.830 4 0.044 0.077 2538 3611 1831

6464 0.97 233.0 362.0 8.3 308 6470 0.15 2.67 0.00 0.000 6 0.084 0.063 2506 2203 1831

6791 0.97 233.0 336.9 7.9 324 6795 0.00 2.67 0.00 0.000 4 0.000 0.071 2506 782 1830

6824 0.97 233.0 334.1 7.7 325 6830 0.00 2.62 0.00 0.000 6 0.000 0.054 2506 2206 1829

7140 0.97 233.0 310.3 7.8 341 7141 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2206 1829

7449 0.97 233.0 288.0 7.0 356 7453 0.00 2.67 0.00 0.000 4 0.000 0.067 2506 781 1829

7488 0.97 233.0 285.2 7.5 358 7493 0.00 2.62 0.00 0.000 6 0.000 0.053 2507 2206 1829

7815 0.99 256.3 264.9 5.4 374 7841 0.00 2.70 20.58 0.775 4 0.000 0.074 2507 3613 1735

7869 0.99 256.3 261.4 6.4 376 7875 0.00 2.65 0.00 0.000 6 0.000 0.062 2506 2199 1735

8185 1.03 291.3 244.2 5.0 392 8217 0.00 0.00 30.05 0.780 6 0.000 0.000 2506 2199 1593

8515 1.10 358.5 229.0 4.2 408 8575 0.15 0.00 56.47 0.779 6 0.047 0.000 2551 2199 1319

8884 1.10 358.5 204.0 7.0 426 8888 0.00 2.65 0.00 0.000 4 0.000 0.070 2551 782 1318

8923 1.10 358.5 201.3 7.0 428 8927 0.00 2.60 0.00 0.000 6 0.000 0.053 2549 2208 1318

9250 1.06 358.5 178.7 7.0 444 9254 0.00 2.67 0.00 0.000 4 0.000 0.067 2551 781 1318

9272 1.02 358.5 176.9 7.6 445 9277 0.15 2.60 0.00 0.000 6 0.080 0.051 2520 2203 1318

9593 1.02 358.5 156.3 6.8 461 9598 0.00 2.67 0.00 0.000 4 0.000 0.067 2520 779 1318

9621 1.06 358.5 154.4 6.7 462 9626 0.00 2.60 0.00 0.000 6 0.000 0.051 2520 2203 1318

9937 1.07 370.2 135.3 5.7 477 9958 0.00 2.70 11.18 0.662 4 0.000 0.065 2520 782 1270

9975 1.10 394.5 133.2 5.3 478 10003 0.00 2.60 21.17 0.696 6 0.000 0.052 2520 2199 1171

10314 1.16 394.5 111.9 6.5 495 10319 0.15 2.67 0.00 0.000 4 0.045 0.067 2570 776 1172

10337 1.16 394.5 109.9 8.2 496 10341 0.00 2.60 0.00 0.000 6 0.000 0.051 2570 2198 1172

10659 1.10 394.5 77.5 11.0 512 10664 0.15 2.67 0.00 0.000 4 0.081 0.066 2535 778 1172

10686 1.10 394.5 74.4 10.7 513 10691 0.00 2.60 0.00 0.000 6 0.000 0.051 2535 2203 1172

11003 1.10 394.5 42.8 9.4 528 11008 0.00 2.67 0.00 0.000 4 0.000 0.066 2535 779 1172

11044 1.14 394.5 39.0 9.1 530 11049 0.00 2.60 0.00 0.000 6 0.000 0.051 2535 2206 1172

11371 1.14 394.5 11.0 9.3 546 11372 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2206 1172

11471 end climb: SURFACE_DEPTH_REACHED

state 11471 begin surface coast

11493 end surface coast: CONTROL_FINISHED_OK

state 11493 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	125	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	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	-2095566.2	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	130526,6221.505,-848.518,42,1.1,42,-9.4	TGT_NAME	B1
_CALLS	1	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.06	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-53.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	131009,6221.493,-848.529,15,1.4,15,-9.4	MHEAD_RNG_PITCHd_Wd	201.2,66208,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.014972	ALTIM_BOTTOM_PING	326.0,67.7
SM_CCo	11516,78.78,0.623,0,0,509,557.32	_24V_AH	23.7,23.203
SM_GC	0.94,0.00,0.00,78.78,0.000,0.000,0.623,72,2307,509,-10.24,0.20,557.32	_10V_AH	10.2,11.638
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28633,552
TT8_MAMPS	0.023777	CAP_FILE_SIZE	95967,0
HUMID	1874	CFSIZE	260165632,250687488
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	2	GPS	020708,162532,6220.001,-851.463,37,1.6,37,-9.4
ALTIM_TOP_PING	18.6,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	164	99.29	SBE_CT	410	24	233.25
Roll_motor	137	76	250.45	SBE_O2	374	19	168.66
VBD_pump_during_apogee	465	888	9798.81	WL_BB2F	465	105	1157.42
VBD_pump_during_surface	78	622	1162.75	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	27	160	104.53	nil	0	0	0.00
Iridium_during_xfer	124	223	656.29
Transponder_ping	3	420	29.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.70
TT8	1048	19	211.65
LPSleep	8502	2	189.93
TT8_Active	701	19	141.64
TT8_Sampling	1234	39	501.05
TT8_CF8	396	45	185.34
TT8_Kalman	33	81	27.84
Analog_circuits	1371	12	167.93
GPS_charging	0	0	0.00
Compass	1208	8	98.63
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	146	0.00	0.00	-120.65	0.000	2	0.000	0.000	69	2313	2919
150	-0.85	-146.6	3.4	-2.9	6	180	11.32	2.70	-11.60	0.000	4	0.164	0.074	2110	880	3380
209	-0.68	-146.6	12.8	-10.3	8	216	0.22	2.62	0.00	0.000	6	0.097	0.055	2153	2298	3380
525	-0.62	-146.6	37.7	-8.0	24	530	0.00	2.67	0.00	0.000	4	0.000	0.072	2153	3718	3380
559	-0.58	-146.6	40.5	-8.2	25	565	0.00	2.60	0.00	0.000	6	0.000	0.051	2153	2291	3381
877	-0.53	-146.6	61.2	-6.0	41	882	0.15	2.62	0.00	0.000	4	0.116	0.064	2183	883	3380
928	-0.63	-146.6	63.8	-4.2	43	932	0.00	2.60	0.00	0.000	6	0.000	0.054	2183	2301	3380
1246	-0.63	-146.6	78.3	-4.5	58	1250	0.00	2.65	0.00	0.000	4	0.000	0.063	2183	884	3380
1279	-0.71	-146.6	80.0	-4.9	59	1286	0.17	2.60	0.00	0.000	6	0.041	0.054	2126	2302	3380
1596	-0.60	-146.6	101.9	-7.2	75	1601	0.17	2.65	0.00	0.000	4	0.083	0.063	2166	884	3380
1636	-0.65	-146.6	104.5	-6.3	77	1640	0.00	2.60	0.00	0.000	6	0.000	0.055	2165	2302	3380
1963	-0.65	-146.6	124.5	-6.2	93	1967	0.00	2.65	0.00	0.000	4	0.000	0.064	2166	883	3381
1990	-0.65	-146.6	126.3	-6.3	94	1994	0.00	2.60	0.00	0.000	6	0.000	0.056	2166	2300	3380
2307	-0.65	-146.6	145.2	-6.2	109	2312	0.00	2.65	0.00	0.000	4	0.000	0.065	2166	884	3380
2335	-0.65	-146.6	146.9	-6.3	110	2340	0.00	2.60	0.00	0.000	6	0.000	0.055	2165	2302	3381
2651	-0.65	-146.6	165.6	-5.8	125	2652	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2302	3381
2960	-0.65	-146.6	185.6	-6.9	140	2964	0.00	2.65	0.00	0.000	4	0.000	0.066	2166	884	3381
3000	-0.70	-146.6	188.6	-7.2	142	3004	0.00	2.60	0.00	0.000	6	0.000	0.057	2165	2305	3380
3326	-0.70	-146.6	211.8	-6.6	158	3331	0.00	2.67	0.00	0.000	4	0.000	0.066	2166	880	3380
3360	-0.70	-146.6	214.1	-6.1	159	3366	0.00	2.62	0.00	0.000	6	0.000	0.056	2165	2307	3380
3675	-0.70	-146.6	237.3	-7.7	175	3680	0.00	2.67	0.00	0.000	4	0.000	0.066	2165	883	3380
3716	-0.74	-146.6	240.5	-7.8	177	3721	0.12	2.60	0.00	0.000	6	0.046	0.056	2124	2299	3380
4043	-0.63	-146.6	270.6	-9.5	193	4045	0.17	0.00	0.00	0.000	6	0.085	0.000	2159	2299	3380
4351	-0.63	-146.6	294.2	-7.5	208	4356	0.00	2.65	0.00	0.000	4	0.000	0.067	2159	884	3380
4396	-0.63	-146.6	297.4	-6.6	210	4400	0.00	2.60	0.00	0.000	6	0.000	0.057	2159	2299	3380
4717	-0.63	-146.6	316.5	-5.6	226	4722	0.00	2.67	0.00	0.000	4	0.000	0.067	2159	877	3380
4757	-0.63	-146.6	318.8	-5.7	228	4762	0.00	2.60	0.00	0.000	6	0.000	0.057	2158	2300	3380
5085	-0.63	-146.6	338.7	-6.1	244	5089	0.00	2.67	0.00	0.000	4	0.000	0.068	2159	877	3380
5134	-0.63	-146.6	342.1	-7.5	246	5139	0.00	2.62	0.00	0.000	6	0.000	0.058	2159	2302	3380
5450	-0.63	-146.6	363.9	-6.7	261	5455	0.00	2.67	0.00	0.000	4	0.000	0.068	2159	882	3380
5500	-0.63	-146.6	367.5	-7.2	263	5505	0.00	2.60	0.00	0.000	6	0.000	0.057	2159	2300	3380
5731	end dive: BOTTOM_OBSTACLE_DETECTED
state	5731	begin apogee
5738	-0.31	0.0	384.2	7.4	274	5867	0.35	0.00	125.70	0.889	6	0.103	0.000	2227	2202	2781
5868	end apogee: CONTROL_FINISHED_OK
state	5868	begin climb
5871	0.85	146.6	389.5	0.0	280	6003	1.20	2.72	124.90	0.872	4	0.077	0.064	2481	782	2183
6035	0.90	198.4	386.4	4.6	288	6085	0.00	2.65	44.45	0.844	6	0.000	0.054	2481	2202	1973
6404	1.03	233.0	366.7	5.1	306	6440	0.17	2.75	30.60	0.830	4	0.044	0.077	2538	3611	1831
6464	0.97	233.0	362.0	8.3	308	6470	0.15	2.67	0.00	0.000	6	0.084	0.063	2506	2203	1831
6791	0.97	233.0	336.9	7.9	324	6795	0.00	2.67	0.00	0.000	4	0.000	0.071	2506	782	1830
6824	0.97	233.0	334.1	7.7	325	6830	0.00	2.62	0.00	0.000	6	0.000	0.054	2506	2206	1829
7140	0.97	233.0	310.3	7.8	341	7141	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2206	1829
7449	0.97	233.0	288.0	7.0	356	7453	0.00	2.67	0.00	0.000	4	0.000	0.067	2506	781	1829
7488	0.97	233.0	285.2	7.5	358	7493	0.00	2.62	0.00	0.000	6	0.000	0.053	2507	2206	1829
7815	0.99	256.3	264.9	5.4	374	7841	0.00	2.70	20.58	0.775	4	0.000	0.074	2507	3613	1735
7869	0.99	256.3	261.4	6.4	376	7875	0.00	2.65	0.00	0.000	6	0.000	0.062	2506	2199	1735
8185	1.03	291.3	244.2	5.0	392	8217	0.00	0.00	30.05	0.780	6	0.000	0.000	2506	2199	1593
8515	1.10	358.5	229.0	4.2	408	8575	0.15	0.00	56.47	0.779	6	0.047	0.000	2551	2199	1319
8884	1.10	358.5	204.0	7.0	426	8888	0.00	2.65	0.00	0.000	4	0.000	0.070	2551	782	1318
8923	1.10	358.5	201.3	7.0	428	8927	0.00	2.60	0.00	0.000	6	0.000	0.053	2549	2208	1318
9250	1.06	358.5	178.7	7.0	444	9254	0.00	2.67	0.00	0.000	4	0.000	0.067	2551	781	1318
9272	1.02	358.5	176.9	7.6	445	9277	0.15	2.60	0.00	0.000	6	0.080	0.051	2520	2203	1318
9593	1.02	358.5	156.3	6.8	461	9598	0.00	2.67	0.00	0.000	4	0.000	0.067	2520	779	1318
9621	1.06	358.5	154.4	6.7	462	9626	0.00	2.60	0.00	0.000	6	0.000	0.051	2520	2203	1318
9937	1.07	370.2	135.3	5.7	477	9958	0.00	2.70	11.18	0.662	4	0.000	0.065	2520	782	1270
9975	1.10	394.5	133.2	5.3	478	10003	0.00	2.60	21.17	0.696	6	0.000	0.052	2520	2199	1171
10314	1.16	394.5	111.9	6.5	495	10319	0.15	2.67	0.00	0.000	4	0.045	0.067	2570	776	1172
10337	1.16	394.5	109.9	8.2	496	10341	0.00	2.60	0.00	0.000	6	0.000	0.051	2570	2198	1172
10659	1.10	394.5	77.5	11.0	512	10664	0.15	2.67	0.00	0.000	4	0.081	0.066	2535	778	1172
10686	1.10	394.5	74.4	10.7	513	10691	0.00	2.60	0.00	0.000	6	0.000	0.051	2535	2203	1172
11003	1.10	394.5	42.8	9.4	528	11008	0.00	2.67	0.00	0.000	4	0.000	0.066	2535	779	1172
11044	1.14	394.5	39.0	9.1	530	11049	0.00	2.60	0.00	0.000	6	0.000	0.051	2535	2206	1172
11371	1.14	394.5	11.0	9.3	546	11372	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2206	1172
11471	end climb: SURFACE_DEPTH_REACHED
state	11471	begin surface coast
11493	end surface coast: CONTROL_FINISHED_OK
state	11493	begin surface