Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 145 * 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 270 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 145 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 16 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 -2096013.4 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 2 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 412.5

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 -2096013.4

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_MISSION 440

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 2 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 16 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 145 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 111058,6220.057,-943.466,36,2.1,55,-9.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6220.042,-948.308

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.30 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 111638,6220.042,-943.294,12,1.9,17,-9.9 MHEAD_RNG_PITCHd_Wd 279.9,20000,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.013518 ALTIM_BOTTOM_PING 525.7,89.5

SM_CCo 12351,113.10,0.629,0,0,508,557.32 _24V_AH 23.6,26.071

SM_GC 1.35,0.00,0.00,113.10,0.000,0.000,0.629,71,2305,508,-10.25,0.14,557.32 _10V_AH 10.2,12.872

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28568,591

TT8_MAMPS 0.023777 CAP_FILE_SIZE 95435,0

HUMID 1881 CFSIZE 260165632,249778176

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

XPDR_PINGS 24 GPS 050708,144602,6218.347,-943.606,44,1.9,44,-9.9

ALTIM_TOP_PING 19.8,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 102.21 SBE_CT 437 24 247.56

Roll_motor 112 80 213.30 SBE_O2 401 19 179.85

VBD_pump_during_apogee 418 1049 10359.99 WL_BB2F 373 105 926.08

VBD_pump_during_surface 113 628 1678.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.73 nil 0 0 0.00

Iridium_during_connect 29 160 113.23 nil 0 0 0.00

Iridium_during_xfer 179 223 946.38

Transponder_ping 10 420 104.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.83

TT8 1109 19 224.07

LPSleep 9205 2 205.63

TT8_Active 693 19 140.12

TT8_Sampling 1353 39 549.46

TT8_CF8 445 45 208.07

TT8_Kalman 0 81 0.00

Analog_circuits 1399 12 171.29

GPS_charging 0 0 0.00

Compass 1316 8 107.42

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

31 -1.08 -146.6 0.0 0.0 0 152 0.00 0.00 -119.43 0.000 2 0.000 0.000 72 2313 3026

156 -1.08 -146.6 4.4 -3.6 6 181 11.15 2.72 -7.62 0.000 4 0.170 0.077 2056 878 3379

383 -0.97 -146.6 41.8 -13.2 16 388 0.17 2.62 0.00 0.000 6 0.107 0.054 2089 2300 3380

705 -0.90 -146.6 78.3 -11.4 32 706 0.00 0.00 0.00 0.000 6 0.000 0.000 2088 2300 3380

1015 -0.83 -146.6 115.9 -11.9 47 1020 0.15 2.67 0.00 0.000 4 0.103 0.064 2120 880 3380

1048 -0.89 -146.6 119.7 -10.6 48 1054 0.00 2.62 0.00 0.000 6 0.000 0.054 2121 2304 3381

1363 -0.89 -146.6 152.6 -10.7 64 1365 0.00 0.00 0.00 0.000 6 0.000 0.000 2121 2304 3381

1673 -0.89 -146.6 184.4 -9.7 79 1678 0.00 2.67 0.00 0.000 4 0.000 0.066 2121 880 3380

1745 -0.97 -146.6 191.3 -9.2 82 1750 0.15 2.60 0.00 0.000 6 0.044 0.054 2076 2300 3380

2062 -0.86 -146.6 226.8 -11.2 97 2064 0.17 0.00 0.00 0.000 6 0.091 0.000 2109 2300 3380

2370 -0.86 -146.6 256.4 -9.6 112 2374 0.00 2.67 0.00 0.000 4 0.000 0.067 2110 877 3380

2432 -0.90 -146.6 262.1 -9.5 115 2437 0.00 2.62 0.00 0.000 6 0.000 0.054 2109 2299 3380

2760 -0.90 -146.6 292.2 -9.1 131 2764 0.00 2.67 0.00 0.000 4 0.000 0.067 2109 881 3380

2799 -0.95 -146.6 295.9 -9.2 133 2804 0.00 2.62 0.00 0.000 6 0.000 0.054 2110 2305 3380

3127 -0.95 -146.6 326.5 -9.4 149 3128 0.00 0.00 0.00 0.000 6 0.000 0.000 2109 2305 3380

3435 -0.95 -146.6 354.5 -8.8 164 3440 0.00 2.67 0.00 0.000 4 0.000 0.067 2109 880 3380

3521 -1.00 -146.6 361.8 -7.9 168 3526 0.12 2.62 0.00 0.000 6 0.049 0.054 2071 2303 3380

3848 -0.89 -146.6 397.6 -11.1 184 3850 0.17 0.00 0.00 0.000 6 0.093 0.000 2105 2303 3380

4157 -0.89 -146.6 427.9 -10.6 199 4161 0.00 2.67 0.00 0.000 4 0.000 0.068 2105 881 3380

4189 -0.89 -146.6 431.6 -10.3 200 4196 0.00 2.60 0.00 0.000 6 0.000 0.054 2105 2302 3380

4506 -0.89 -146.6 463.5 -9.2 216 4510 0.00 2.67 0.00 0.000 4 0.000 0.067 2105 880 3380

4606 -0.93 -146.6 472.3 -8.2 220 4613 0.00 2.60 0.00 0.000 6 0.000 0.056 2105 2299 3380

4923 -0.93 -146.6 498.0 -8.2 236 4927 0.00 2.67 0.00 0.000 4 0.000 0.077 2105 3710 3380

4989 -0.93 -146.6 504.7 -10.4 239 4993 0.00 2.60 0.00 0.000 6 0.000 0.055 2105 2295 3380

5309 -0.93 -146.6 535.4 -9.6 255 5314 0.00 2.65 0.00 0.000 4 0.000 0.070 2105 885 3379

5343 -0.93 -146.6 538.5 -9.2 256 5349 0.00 2.60 0.00 0.000 6 0.000 0.055 2104 2299 3379

5658 -0.93 -146.6 568.6 -9.9 272 5659 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2300 3379

5967 -0.93 -146.6 597.5 -9.1 287 5972 0.00 2.70 0.00 0.000 4 0.000 0.081 2105 3713 3379

6007 -0.93 -146.6 601.3 -9.7 289 6012 0.00 2.60 0.00 0.000 6 0.000 0.058 2105 2298 3379

6063 end dive: BOTTOM_OBSTACLE_DETECTED

state 6063 begin apogee

6070 -0.31 0.0 607.1 9.9 292 6206 0.62 0.00 130.65 1.049 6 0.097 0.000 2231 2200 2782

6206 end apogee: CONTROL_FINISHED_OK

state 6206 begin climb

6209 1.08 146.6 612.5 0.0 299 6347 1.45 0.00 129.68 1.032 6 0.071 0.000 2537 2200 2182

6658 1.13 186.4 589.3 6.6 321 6700 0.00 2.80 35.25 0.999 4 0.000 0.079 2537 3609 2020

6851 1.13 186.4 573.1 8.5 329 6857 0.00 2.65 0.00 0.000 6 0.000 0.061 2536 2205 2021

7167 1.14 199.5 549.0 7.5 345 7189 0.00 2.80 12.60 0.920 4 0.000 0.079 2537 3608 1967

7228 1.14 199.5 543.8 8.9 347 7234 0.00 2.67 0.00 0.000 6 0.000 0.061 2537 2196 1967

7544 1.25 237.4 520.8 6.6 363 7586 0.15 2.80 33.88 0.985 4 0.051 0.078 2583 3611 1813

7667 1.17 237.4 509.8 9.7 368 7672 0.15 2.67 0.00 0.000 6 0.099 0.061 2556 2194 1813

7983 1.21 272.4 487.5 6.7 383 8024 0.00 2.80 31.30 0.965 4 0.000 0.077 2556 3616 1669

8080 1.21 272.4 479.8 8.8 387 8085 0.00 2.67 0.00 0.000 6 0.000 0.061 2556 2200 1669

8397 1.33 323.9 458.3 6.1 402 8444 0.15 0.00 45.03 0.954 6 0.050 0.000 2598 2200 1460

8745 1.33 323.9 428.2 10.8 419 8750 0.00 2.72 0.00 0.000 4 0.000 0.077 2598 3616 1460

8795 1.33 323.9 422.0 11.9 421 8799 0.00 2.65 0.00 0.000 6 0.000 0.061 2598 2200 1461

9110 1.33 323.9 384.1 12.3 436 9115 0.00 2.67 0.00 0.000 4 0.000 0.071 2598 781 1460

9161 1.33 323.9 378.0 12.1 438 9165 0.00 2.60 0.00 0.000 6 0.000 0.053 2598 2200 1460

9476 1.33 323.9 341.0 11.5 453 9481 0.00 2.67 0.00 0.000 4 0.000 0.077 2598 3617 1460

9516 1.33 323.9 336.1 12.6 455 9521 0.00 2.65 0.00 0.000 6 0.000 0.065 2598 2201 1461

9843 1.33 323.9 297.7 11.9 471 9844 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2200 1460

10152 1.33 323.9 259.5 12.6 486 10153 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2200 1461

10461 1.33 323.9 220.5 12.6 501 10462 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2200 1461

10771 1.33 323.9 182.4 12.2 516 10772 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2201 1461

11080 1.33 323.9 145.1 12.0 531 11081 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2201 1461

11390 1.33 323.9 107.8 12.1 546 11395 0.00 2.67 0.00 0.000 4 0.000 0.074 2598 3612 1462

11431 1.33 323.9 102.4 13.7 548 11435 0.00 2.62 0.00 0.000 6 0.000 0.061 2598 2201 1461

11757 1.33 323.9 65.0 11.2 564 11762 0.00 2.65 0.00 0.000 4 0.000 0.067 2596 779 1461

11790 1.33 323.9 61.0 11.0 565 11796 0.00 2.60 0.00 0.000 6 0.000 0.051 2598 2207 1461

12108 1.33 323.9 24.7 11.5 581 12112 0.00 2.65 0.00 0.000 4 0.000 0.072 2598 3617 1462

12180 1.33 323.9 15.7 12.0 584 12184 0.00 2.62 0.00 0.000 6 0.000 0.061 2598 2200 1462

12309 end climb: SURFACE_DEPTH_REACHED

state 12309 begin surface coast

12329 end surface coast: CONTROL_FINISHED_OK

state 12329 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	270	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	145	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	16	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	-2096013.4	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	2	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	111058,6220.057,-943.466,36,2.1,55,-9.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6220.042,-948.308
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.30	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	111638,6220.042,-943.294,12,1.9,17,-9.9	MHEAD_RNG_PITCHd_Wd	279.9,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.7,1.013518	ALTIM_BOTTOM_PING	525.7,89.5
SM_CCo	12351,113.10,0.629,0,0,508,557.32	_24V_AH	23.6,26.071
SM_GC	1.35,0.00,0.00,113.10,0.000,0.000,0.629,71,2305,508,-10.25,0.14,557.32	_10V_AH	10.2,12.872
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28568,591
TT8_MAMPS	0.023777	CAP_FILE_SIZE	95435,0
HUMID	1881	CFSIZE	260165632,249778176
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	24	GPS	050708,144602,6218.347,-943.606,44,1.9,44,-9.9
ALTIM_TOP_PING	19.8,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	102.21	SBE_CT	437	24	247.56
Roll_motor	112	80	213.30	SBE_O2	401	19	179.85
VBD_pump_during_apogee	418	1049	10359.99	WL_BB2F	373	105	926.08
VBD_pump_during_surface	113	628	1678.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.73	nil	0	0	0.00
Iridium_during_connect	29	160	113.23	nil	0	0	0.00
Iridium_during_xfer	179	223	946.38
Transponder_ping	10	420	104.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.83
TT8	1109	19	224.07
LPSleep	9205	2	205.63
TT8_Active	693	19	140.12
TT8_Sampling	1353	39	549.46
TT8_CF8	445	45	208.07
TT8_Kalman	0	81	0.00
Analog_circuits	1399	12	171.29
GPS_charging	0	0	0.00
Compass	1316	8	107.42
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
31	-1.08	-146.6	0.0	0.0	0	152	0.00	0.00	-119.43	0.000	2	0.000	0.000	72	2313	3026
156	-1.08	-146.6	4.4	-3.6	6	181	11.15	2.72	-7.62	0.000	4	0.170	0.077	2056	878	3379
383	-0.97	-146.6	41.8	-13.2	16	388	0.17	2.62	0.00	0.000	6	0.107	0.054	2089	2300	3380
705	-0.90	-146.6	78.3	-11.4	32	706	0.00	0.00	0.00	0.000	6	0.000	0.000	2088	2300	3380
1015	-0.83	-146.6	115.9	-11.9	47	1020	0.15	2.67	0.00	0.000	4	0.103	0.064	2120	880	3380
1048	-0.89	-146.6	119.7	-10.6	48	1054	0.00	2.62	0.00	0.000	6	0.000	0.054	2121	2304	3381
1363	-0.89	-146.6	152.6	-10.7	64	1365	0.00	0.00	0.00	0.000	6	0.000	0.000	2121	2304	3381
1673	-0.89	-146.6	184.4	-9.7	79	1678	0.00	2.67	0.00	0.000	4	0.000	0.066	2121	880	3380
1745	-0.97	-146.6	191.3	-9.2	82	1750	0.15	2.60	0.00	0.000	6	0.044	0.054	2076	2300	3380
2062	-0.86	-146.6	226.8	-11.2	97	2064	0.17	0.00	0.00	0.000	6	0.091	0.000	2109	2300	3380
2370	-0.86	-146.6	256.4	-9.6	112	2374	0.00	2.67	0.00	0.000	4	0.000	0.067	2110	877	3380
2432	-0.90	-146.6	262.1	-9.5	115	2437	0.00	2.62	0.00	0.000	6	0.000	0.054	2109	2299	3380
2760	-0.90	-146.6	292.2	-9.1	131	2764	0.00	2.67	0.00	0.000	4	0.000	0.067	2109	881	3380
2799	-0.95	-146.6	295.9	-9.2	133	2804	0.00	2.62	0.00	0.000	6	0.000	0.054	2110	2305	3380
3127	-0.95	-146.6	326.5	-9.4	149	3128	0.00	0.00	0.00	0.000	6	0.000	0.000	2109	2305	3380
3435	-0.95	-146.6	354.5	-8.8	164	3440	0.00	2.67	0.00	0.000	4	0.000	0.067	2109	880	3380
3521	-1.00	-146.6	361.8	-7.9	168	3526	0.12	2.62	0.00	0.000	6	0.049	0.054	2071	2303	3380
3848	-0.89	-146.6	397.6	-11.1	184	3850	0.17	0.00	0.00	0.000	6	0.093	0.000	2105	2303	3380
4157	-0.89	-146.6	427.9	-10.6	199	4161	0.00	2.67	0.00	0.000	4	0.000	0.068	2105	881	3380
4189	-0.89	-146.6	431.6	-10.3	200	4196	0.00	2.60	0.00	0.000	6	0.000	0.054	2105	2302	3380
4506	-0.89	-146.6	463.5	-9.2	216	4510	0.00	2.67	0.00	0.000	4	0.000	0.067	2105	880	3380
4606	-0.93	-146.6	472.3	-8.2	220	4613	0.00	2.60	0.00	0.000	6	0.000	0.056	2105	2299	3380
4923	-0.93	-146.6	498.0	-8.2	236	4927	0.00	2.67	0.00	0.000	4	0.000	0.077	2105	3710	3380
4989	-0.93	-146.6	504.7	-10.4	239	4993	0.00	2.60	0.00	0.000	6	0.000	0.055	2105	2295	3380
5309	-0.93	-146.6	535.4	-9.6	255	5314	0.00	2.65	0.00	0.000	4	0.000	0.070	2105	885	3379
5343	-0.93	-146.6	538.5	-9.2	256	5349	0.00	2.60	0.00	0.000	6	0.000	0.055	2104	2299	3379
5658	-0.93	-146.6	568.6	-9.9	272	5659	0.00	0.00	0.00	0.000	6	0.000	0.000	2105	2300	3379
5967	-0.93	-146.6	597.5	-9.1	287	5972	0.00	2.70	0.00	0.000	4	0.000	0.081	2105	3713	3379
6007	-0.93	-146.6	601.3	-9.7	289	6012	0.00	2.60	0.00	0.000	6	0.000	0.058	2105	2298	3379
6063	end dive: BOTTOM_OBSTACLE_DETECTED
state	6063	begin apogee
6070	-0.31	0.0	607.1	9.9	292	6206	0.62	0.00	130.65	1.049	6	0.097	0.000	2231	2200	2782
6206	end apogee: CONTROL_FINISHED_OK
state	6206	begin climb
6209	1.08	146.6	612.5	0.0	299	6347	1.45	0.00	129.68	1.032	6	0.071	0.000	2537	2200	2182
6658	1.13	186.4	589.3	6.6	321	6700	0.00	2.80	35.25	0.999	4	0.000	0.079	2537	3609	2020
6851	1.13	186.4	573.1	8.5	329	6857	0.00	2.65	0.00	0.000	6	0.000	0.061	2536	2205	2021
7167	1.14	199.5	549.0	7.5	345	7189	0.00	2.80	12.60	0.920	4	0.000	0.079	2537	3608	1967
7228	1.14	199.5	543.8	8.9	347	7234	0.00	2.67	0.00	0.000	6	0.000	0.061	2537	2196	1967
7544	1.25	237.4	520.8	6.6	363	7586	0.15	2.80	33.88	0.985	4	0.051	0.078	2583	3611	1813
7667	1.17	237.4	509.8	9.7	368	7672	0.15	2.67	0.00	0.000	6	0.099	0.061	2556	2194	1813
7983	1.21	272.4	487.5	6.7	383	8024	0.00	2.80	31.30	0.965	4	0.000	0.077	2556	3616	1669
8080	1.21	272.4	479.8	8.8	387	8085	0.00	2.67	0.00	0.000	6	0.000	0.061	2556	2200	1669
8397	1.33	323.9	458.3	6.1	402	8444	0.15	0.00	45.03	0.954	6	0.050	0.000	2598	2200	1460
8745	1.33	323.9	428.2	10.8	419	8750	0.00	2.72	0.00	0.000	4	0.000	0.077	2598	3616	1460
8795	1.33	323.9	422.0	11.9	421	8799	0.00	2.65	0.00	0.000	6	0.000	0.061	2598	2200	1461
9110	1.33	323.9	384.1	12.3	436	9115	0.00	2.67	0.00	0.000	4	0.000	0.071	2598	781	1460
9161	1.33	323.9	378.0	12.1	438	9165	0.00	2.60	0.00	0.000	6	0.000	0.053	2598	2200	1460
9476	1.33	323.9	341.0	11.5	453	9481	0.00	2.67	0.00	0.000	4	0.000	0.077	2598	3617	1460
9516	1.33	323.9	336.1	12.6	455	9521	0.00	2.65	0.00	0.000	6	0.000	0.065	2598	2201	1461
9843	1.33	323.9	297.7	11.9	471	9844	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2200	1460
10152	1.33	323.9	259.5	12.6	486	10153	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2200	1461
10461	1.33	323.9	220.5	12.6	501	10462	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2200	1461
10771	1.33	323.9	182.4	12.2	516	10772	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2201	1461
11080	1.33	323.9	145.1	12.0	531	11081	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2201	1461
11390	1.33	323.9	107.8	12.1	546	11395	0.00	2.67	0.00	0.000	4	0.000	0.074	2598	3612	1462
11431	1.33	323.9	102.4	13.7	548	11435	0.00	2.62	0.00	0.000	6	0.000	0.061	2598	2201	1461
11757	1.33	323.9	65.0	11.2	564	11762	0.00	2.65	0.00	0.000	4	0.000	0.067	2596	779	1461
11790	1.33	323.9	61.0	11.0	565	11796	0.00	2.60	0.00	0.000	6	0.000	0.051	2598	2207	1461
12108	1.33	323.9	24.7	11.5	581	12112	0.00	2.65	0.00	0.000	4	0.000	0.072	2598	3617	1462
12180	1.33	323.9	15.7	12.0	584	12184	0.00	2.62	0.00	0.000	6	0.000	0.061	2598	2200	1462
12309	end climb: SURFACE_DEPTH_REACHED
state	12309	begin surface coast
12329	end surface coast: CONTROL_FINISHED_OK
state	12329	begin surface