Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 146 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 146 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 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 2817 DEVICE6 -1

T_NO_W 300 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 -2078479.6 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 566.1524

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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 -2078479.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 146 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 122007,6241.649,-1012.909,38,2.0,49,-10.3 TGT_NAME IFRSILL

_CALLS 5 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.214,-0.058

_SM_DEPTHo 1.04 KALMAN_X -124312.3,1972.9,561.3,62446.4,-20981.6

_SM_ANGLEo -50.4 KALMAN_Y 114569.0,787.2,-291.4,2254.8,-5573.9

GPS2 123829,6241.549,-1012.997,11,5.9,30,-10.3 MHEAD_RNG_PITCHd_Wd 115.5,31991,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027703 ALTIM_BOTTOM_PING 426.4,92.9

SM_CCo 12979,152.40,0.658,1,0,509,566.15 _24V_AH 23.6,26.136

SM_GC 1.21,0.00,0.00,152.40,0.000,0.000,0.658,66,2402,509,-10.78,0.06,566.15 _10V_AH 10.2,12.610

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31695,629

TT8_MAMPS 0.023777 CFSIZE 260165632,250896384

HUMID 2070 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,1,0

TCM_TEMP 17.00 GPS 081207,161952,6240.885,-1010.660,42,2.7,61,-10.3

XPDR_PINGS 17

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 101.31 SBE_CT 453 24 256.81

Roll_motor 109 75 196.76 SBE_O2 438 19 196.74

VBD_pump_during_apogee 353 1010 8438.36 WL_BB2F 452 105 1120.82

VBD_pump_during_surface 152 658 2366.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 163 103 396.51 nil 0 0 0.00

Iridium_during_connect 238 160 899.48 nil 0 0 0.00

Iridium_during_xfer 336 223 1772.49

Transponder_ping 7 420 74.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.95

TT8 1145 19 231.33

LPSleep 10207 2 228.02

TT8_Active 679 19 137.20

TT8_Sampling 1334 39 541.65

TT8_CF8 880 45 411.15

TT8_Kalman 33 81 27.84

Analog_circuits 1341 12 164.18

GPS_charging 0 0 0.00

Compass 1291 8 105.42

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -102.05 0.000 2 0.000 0.000 65 2405 3053

126 -0.85 -146.6 3.3 -2.3 5 151 12.23 0.00 -9.05 0.000 6 0.170 0.000 2218 2405 3415

473 -0.85 -146.6 41.9 -8.6 22 477 0.00 2.67 0.00 0.000 4 0.000 0.065 2219 979 3415

505 -0.85 -146.6 43.8 -5.7 23 512 0.00 2.60 0.00 0.000 6 0.000 0.051 2219 2397 3415

822 -0.85 -146.6 63.6 -4.6 39 824 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2397 3415

1130 -0.85 -146.6 91.5 -8.3 54 1134 0.00 2.65 0.00 0.000 4 0.000 0.065 2218 979 3415

1172 -0.85 -146.6 94.9 -7.7 56 1177 0.00 2.60 0.00 0.000 6 0.000 0.051 2219 2400 3415

1500 -0.85 -146.6 120.6 -6.7 72 1501 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2400 3414

1809 -0.85 -146.6 140.4 -5.9 87 1814 0.00 2.65 0.00 0.000 4 0.000 0.067 2218 981 3415

1853 -0.85 -146.6 143.9 -9.0 89 1857 0.00 2.60 0.00 0.000 6 0.000 0.051 2219 2401 3415

2179 -0.85 -146.6 170.8 -7.2 105 2184 0.00 2.65 0.00 0.000 4 0.000 0.067 2219 981 3415

2223 -0.85 -146.6 174.1 -7.6 107 2227 0.00 2.58 0.00 0.000 6 0.000 0.052 2218 2403 3415

2549 -0.85 -146.6 197.2 -7.0 123 2554 0.00 2.67 0.00 0.000 4 0.000 0.067 2219 974 3415

2588 -0.85 -146.6 199.9 -6.5 125 2593 0.00 2.58 0.00 0.000 6 0.000 0.051 2219 2400 3415

2920 -0.85 -146.6 223.0 -7.5 141 2921 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2400 3416

3228 -0.85 -146.6 247.6 -8.4 156 3233 0.00 2.65 0.00 0.000 4 0.000 0.067 2219 982 3414

3294 -0.85 -146.6 253.3 -8.5 159 3299 0.00 2.58 0.00 0.000 6 0.000 0.052 2219 2396 3415

3621 -0.85 -146.6 278.5 -7.3 175 3625 0.00 2.65 0.00 0.000 4 0.000 0.067 2219 978 3416

3652 -0.85 -146.6 280.8 -6.9 176 3659 0.00 2.60 0.00 0.000 6 0.000 0.052 2219 2401 3415

3968 -0.85 -146.6 305.3 -8.2 192 3969 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2401 3415

4277 -0.85 -146.6 333.4 -9.5 207 4282 0.00 2.65 0.00 0.000 4 0.000 0.068 2219 981 3415

4325 -0.85 -146.6 338.6 -10.3 209 4330 0.00 2.58 0.00 0.000 6 0.000 0.053 2219 2393 3415

4647 -0.85 -146.6 365.7 -6.8 225 4648 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2392 3415

4956 -0.85 -146.6 383.1 -6.6 240 4960 0.00 2.62 0.00 0.000 4 0.000 0.067 2219 980 3416

5004 -0.85 -146.6 386.8 -8.1 242 5009 0.00 2.58 0.00 0.000 6 0.000 0.052 2219 2393 3416

5325 -0.85 -146.6 415.2 -9.3 258 5326 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2393 3416

5634 -0.85 -146.6 443.4 -9.4 273 5635 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2393 3415

5944 -0.85 -146.6 471.3 -8.6 288 5945 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2393 3415

6253 -0.85 -146.6 496.6 -8.9 303 6257 0.00 2.62 0.00 0.000 4 0.000 0.067 2219 982 3415

6324 -0.85 -146.6 503.1 -9.4 306 6329 0.00 2.60 0.00 0.000 6 0.000 0.054 2219 2397 3415

6417 end dive: BOTTOM_OBSTACLE_DETECTED

state 6417 begin apogee

6422 -0.31 0.0 510.8 8.2 311 6545 0.60 0.00 119.38 1.011 6 0.104 0.000 2340 2191 2817

6545 end apogee: CONTROL_FINISHED_OK

state 6545 begin climb

6547 0.85 146.6 515.9 0.0 317 6670 1.20 0.00 118.25 0.995 6 0.081 0.000 2590 2189 2218

6977 0.85 146.6 494.3 6.7 338 6982 0.00 2.62 0.00 0.000 4 0.000 0.068 2590 792 2217

7054 0.85 146.6 488.3 8.0 341 7061 0.00 2.62 0.00 0.000 6 0.000 0.051 2590 2200 2216

7370 0.85 146.6 463.8 7.5 357 7371 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2200 2215

7679 0.85 146.6 442.5 7.4 372 7680 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2200 2214

7988 0.86 162.1 422.2 5.6 387 8003 0.00 0.00 12.98 0.881 6 0.000 0.000 2590 2200 2156

8298 0.94 235.2 408.2 4.0 402 8359 0.12 0.00 58.62 0.949 6 0.066 0.000 2621 2200 1857

8667 1.00 290.9 390.5 4.5 420 8717 0.00 2.75 44.47 0.924 4 0.000 0.068 2623 789 1630

8756 1.00 290.9 385.7 6.1 424 8760 0.00 2.60 0.00 0.000 6 0.000 0.050 2623 2204 1629

9082 1.00 290.9 362.1 7.3 440 9087 0.00 2.67 0.00 0.000 4 0.000 0.068 2623 792 1629

9131 1.00 290.9 358.2 7.6 442 9136 0.00 2.60 0.00 0.000 6 0.000 0.049 2623 2200 1629

9453 1.00 290.9 330.7 8.4 458 9454 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2200 1629

9762 1.00 290.9 302.6 9.2 473 9766 0.00 2.65 0.00 0.000 4 0.000 0.067 2623 784 1629

9805 1.00 290.9 298.0 10.3 475 9810 0.00 2.60 0.00 0.000 6 0.000 0.048 2623 2198 1629

10132 1.00 290.9 265.5 10.1 491 10137 0.00 2.65 0.00 0.000 4 0.000 0.067 2623 786 1629

10158 1.00 290.9 263.1 9.4 492 10163 0.00 2.60 0.00 0.000 6 0.000 0.048 2623 2196 1629

10480 1.00 290.9 235.8 9.5 508 10484 0.00 2.65 0.00 0.000 4 0.000 0.067 2623 783 1630

10506 1.00 290.9 233.1 10.1 509 10510 0.00 2.58 0.00 0.000 6 0.000 0.048 2623 2202 1629

10826 1.00 290.9 200.1 9.9 525 10831 0.00 2.65 0.00 0.000 4 0.000 0.067 2623 791 1629

10843 1.00 290.9 198.4 9.8 526 10847 0.00 2.58 0.00 0.000 6 0.000 0.048 2623 2207 1629

11168 1.00 290.9 164.7 11.3 542 11173 0.00 2.65 0.00 0.000 4 0.000 0.069 2623 791 1630

11213 1.00 290.9 159.1 12.8 544 11218 0.00 2.55 0.00 0.000 6 0.000 0.049 2623 2198 1630

11534 1.00 290.9 130.1 9.8 560 11535 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2198 1630

11843 1.00 290.9 106.2 9.0 575 11847 0.00 2.65 0.00 0.000 4 0.000 0.069 2623 789 1630

11885 1.00 290.9 101.4 10.7 577 11890 0.00 2.58 0.00 0.000 6 0.000 0.049 2623 2192 1631

12212 1.00 290.9 68.2 10.8 593 12214 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2192 1631

12522 1.00 290.9 39.1 8.4 608 12526 0.00 2.62 0.00 0.000 4 0.000 0.068 2623 790 1631

12587 1.00 290.9 33.1 9.2 611 12592 0.00 2.58 0.00 0.000 6 0.000 0.050 2622 2194 1631

12914 1.00 290.9 2.0 9.6 627 12918 0.00 2.12 0.00 0.000 3 0.000 0.076 2623 1061 1631

12919 end climb: SURFACE_DEPTH_REACHED

state 12919 begin surface coast

12957 end surface coast: CONTROL_FINISHED_OK

state 12957 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	146	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	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	2817	DEVICE6	-1
T_NO_W	300	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	-2078479.6	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	122007,6241.649,-1012.909,38,2.0,49,-10.3	TGT_NAME	IFRSILL
_CALLS	5	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.214,-0.058
_SM_DEPTHo	1.04	KALMAN_X	-124312.3,1972.9,561.3,62446.4,-20981.6
_SM_ANGLEo	-50.4	KALMAN_Y	114569.0,787.2,-291.4,2254.8,-5573.9
GPS2	123829,6241.549,-1012.997,11,5.9,30,-10.3	MHEAD_RNG_PITCHd_Wd	115.5,31991,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.027703	ALTIM_BOTTOM_PING	426.4,92.9
SM_CCo	12979,152.40,0.658,1,0,509,566.15	_24V_AH	23.6,26.136
SM_GC	1.21,0.00,0.00,152.40,0.000,0.000,0.658,66,2402,509,-10.78,0.06,566.15	_10V_AH	10.2,12.610
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31695,629
TT8_MAMPS	0.023777	CFSIZE	260165632,250896384
HUMID	2070	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
TCM_TEMP	17.00	GPS	081207,161952,6240.885,-1010.660,42,2.7,61,-10.3
XPDR_PINGS	17

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	101.31	SBE_CT	453	24	256.81
Roll_motor	109	75	196.76	SBE_O2	438	19	196.74
VBD_pump_during_apogee	353	1010	8438.36	WL_BB2F	452	105	1120.82
VBD_pump_during_surface	152	658	2366.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	163	103	396.51	nil	0	0	0.00
Iridium_during_connect	238	160	899.48	nil	0	0	0.00
Iridium_during_xfer	336	223	1772.49
Transponder_ping	7	420	74.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.95
TT8	1145	19	231.33
LPSleep	10207	2	228.02
TT8_Active	679	19	137.20
TT8_Sampling	1334	39	541.65
TT8_CF8	880	45	411.15
TT8_Kalman	33	81	27.84
Analog_circuits	1341	12	164.18
GPS_charging	0	0	0.00
Compass	1291	8	105.42
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-102.05	0.000	2	0.000	0.000	65	2405	3053
126	-0.85	-146.6	3.3	-2.3	5	151	12.23	0.00	-9.05	0.000	6	0.170	0.000	2218	2405	3415
473	-0.85	-146.6	41.9	-8.6	22	477	0.00	2.67	0.00	0.000	4	0.000	0.065	2219	979	3415
505	-0.85	-146.6	43.8	-5.7	23	512	0.00	2.60	0.00	0.000	6	0.000	0.051	2219	2397	3415
822	-0.85	-146.6	63.6	-4.6	39	824	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2397	3415
1130	-0.85	-146.6	91.5	-8.3	54	1134	0.00	2.65	0.00	0.000	4	0.000	0.065	2218	979	3415
1172	-0.85	-146.6	94.9	-7.7	56	1177	0.00	2.60	0.00	0.000	6	0.000	0.051	2219	2400	3415
1500	-0.85	-146.6	120.6	-6.7	72	1501	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2400	3414
1809	-0.85	-146.6	140.4	-5.9	87	1814	0.00	2.65	0.00	0.000	4	0.000	0.067	2218	981	3415
1853	-0.85	-146.6	143.9	-9.0	89	1857	0.00	2.60	0.00	0.000	6	0.000	0.051	2219	2401	3415
2179	-0.85	-146.6	170.8	-7.2	105	2184	0.00	2.65	0.00	0.000	4	0.000	0.067	2219	981	3415
2223	-0.85	-146.6	174.1	-7.6	107	2227	0.00	2.58	0.00	0.000	6	0.000	0.052	2218	2403	3415
2549	-0.85	-146.6	197.2	-7.0	123	2554	0.00	2.67	0.00	0.000	4	0.000	0.067	2219	974	3415
2588	-0.85	-146.6	199.9	-6.5	125	2593	0.00	2.58	0.00	0.000	6	0.000	0.051	2219	2400	3415
2920	-0.85	-146.6	223.0	-7.5	141	2921	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2400	3416
3228	-0.85	-146.6	247.6	-8.4	156	3233	0.00	2.65	0.00	0.000	4	0.000	0.067	2219	982	3414
3294	-0.85	-146.6	253.3	-8.5	159	3299	0.00	2.58	0.00	0.000	6	0.000	0.052	2219	2396	3415
3621	-0.85	-146.6	278.5	-7.3	175	3625	0.00	2.65	0.00	0.000	4	0.000	0.067	2219	978	3416
3652	-0.85	-146.6	280.8	-6.9	176	3659	0.00	2.60	0.00	0.000	6	0.000	0.052	2219	2401	3415
3968	-0.85	-146.6	305.3	-8.2	192	3969	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2401	3415
4277	-0.85	-146.6	333.4	-9.5	207	4282	0.00	2.65	0.00	0.000	4	0.000	0.068	2219	981	3415
4325	-0.85	-146.6	338.6	-10.3	209	4330	0.00	2.58	0.00	0.000	6	0.000	0.053	2219	2393	3415
4647	-0.85	-146.6	365.7	-6.8	225	4648	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2392	3415
4956	-0.85	-146.6	383.1	-6.6	240	4960	0.00	2.62	0.00	0.000	4	0.000	0.067	2219	980	3416
5004	-0.85	-146.6	386.8	-8.1	242	5009	0.00	2.58	0.00	0.000	6	0.000	0.052	2219	2393	3416
5325	-0.85	-146.6	415.2	-9.3	258	5326	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2393	3416
5634	-0.85	-146.6	443.4	-9.4	273	5635	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2393	3415
5944	-0.85	-146.6	471.3	-8.6	288	5945	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2393	3415
6253	-0.85	-146.6	496.6	-8.9	303	6257	0.00	2.62	0.00	0.000	4	0.000	0.067	2219	982	3415
6324	-0.85	-146.6	503.1	-9.4	306	6329	0.00	2.60	0.00	0.000	6	0.000	0.054	2219	2397	3415
6417	end dive: BOTTOM_OBSTACLE_DETECTED
state	6417	begin apogee
6422	-0.31	0.0	510.8	8.2	311	6545	0.60	0.00	119.38	1.011	6	0.104	0.000	2340	2191	2817
6545	end apogee: CONTROL_FINISHED_OK
state	6545	begin climb
6547	0.85	146.6	515.9	0.0	317	6670	1.20	0.00	118.25	0.995	6	0.081	0.000	2590	2189	2218
6977	0.85	146.6	494.3	6.7	338	6982	0.00	2.62	0.00	0.000	4	0.000	0.068	2590	792	2217
7054	0.85	146.6	488.3	8.0	341	7061	0.00	2.62	0.00	0.000	6	0.000	0.051	2590	2200	2216
7370	0.85	146.6	463.8	7.5	357	7371	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2200	2215
7679	0.85	146.6	442.5	7.4	372	7680	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2200	2214
7988	0.86	162.1	422.2	5.6	387	8003	0.00	0.00	12.98	0.881	6	0.000	0.000	2590	2200	2156
8298	0.94	235.2	408.2	4.0	402	8359	0.12	0.00	58.62	0.949	6	0.066	0.000	2621	2200	1857
8667	1.00	290.9	390.5	4.5	420	8717	0.00	2.75	44.47	0.924	4	0.000	0.068	2623	789	1630
8756	1.00	290.9	385.7	6.1	424	8760	0.00	2.60	0.00	0.000	6	0.000	0.050	2623	2204	1629
9082	1.00	290.9	362.1	7.3	440	9087	0.00	2.67	0.00	0.000	4	0.000	0.068	2623	792	1629
9131	1.00	290.9	358.2	7.6	442	9136	0.00	2.60	0.00	0.000	6	0.000	0.049	2623	2200	1629
9453	1.00	290.9	330.7	8.4	458	9454	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2200	1629
9762	1.00	290.9	302.6	9.2	473	9766	0.00	2.65	0.00	0.000	4	0.000	0.067	2623	784	1629
9805	1.00	290.9	298.0	10.3	475	9810	0.00	2.60	0.00	0.000	6	0.000	0.048	2623	2198	1629
10132	1.00	290.9	265.5	10.1	491	10137	0.00	2.65	0.00	0.000	4	0.000	0.067	2623	786	1629
10158	1.00	290.9	263.1	9.4	492	10163	0.00	2.60	0.00	0.000	6	0.000	0.048	2623	2196	1629
10480	1.00	290.9	235.8	9.5	508	10484	0.00	2.65	0.00	0.000	4	0.000	0.067	2623	783	1630
10506	1.00	290.9	233.1	10.1	509	10510	0.00	2.58	0.00	0.000	6	0.000	0.048	2623	2202	1629
10826	1.00	290.9	200.1	9.9	525	10831	0.00	2.65	0.00	0.000	4	0.000	0.067	2623	791	1629
10843	1.00	290.9	198.4	9.8	526	10847	0.00	2.58	0.00	0.000	6	0.000	0.048	2623	2207	1629
11168	1.00	290.9	164.7	11.3	542	11173	0.00	2.65	0.00	0.000	4	0.000	0.069	2623	791	1630
11213	1.00	290.9	159.1	12.8	544	11218	0.00	2.55	0.00	0.000	6	0.000	0.049	2623	2198	1630
11534	1.00	290.9	130.1	9.8	560	11535	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2198	1630
11843	1.00	290.9	106.2	9.0	575	11847	0.00	2.65	0.00	0.000	4	0.000	0.069	2623	789	1630
11885	1.00	290.9	101.4	10.7	577	11890	0.00	2.58	0.00	0.000	6	0.000	0.049	2623	2192	1631
12212	1.00	290.9	68.2	10.8	593	12214	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2192	1631
12522	1.00	290.9	39.1	8.4	608	12526	0.00	2.62	0.00	0.000	4	0.000	0.068	2623	790	1631
12587	1.00	290.9	33.1	9.2	611	12592	0.00	2.58	0.00	0.000	6	0.000	0.050	2622	2194	1631
12914	1.00	290.9	2.0	9.6	627	12918	0.00	2.12	0.00	0.000	3	0.000	0.076	2623	1061	1631
12919	end climb: SURFACE_DEPTH_REACHED
state	12919	begin surface coast
12957	end surface coast: CONTROL_FINISHED_OK
state	12957	begin surface