Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 162 * 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 162 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 14 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 -2078850.1 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 -2078850.1

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 14 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 162 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 010032,6251.232,-914.295,38,1.9,38,-9.8 TGT_NAME IFRVAL

_CALLS 2 TGT_LATLONG 6312.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.102,0.196

_SM_DEPTHo 1.40 KALMAN_X -136371.4,1360.6,87.7,127194.2,-15090.6

_SM_ANGLEo -50.4 KALMAN_Y 103419.3,1570.9,-286.9,30442.0,-14975.0

GPS2 010839,6251.199,-914.383,10,2.0,10,-9.8 MHEAD_RNG_PITCHd_Wd 37.2,40353,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.016791 ALTIM_BOTTOM_PING 325.2,106.5

SM_CCo 11824,199.95,0.666,2,0,509,566.15 _24V_AH 23.6,28.392

SM_GC 1.26,0.00,0.00,199.95,0.000,0.000,0.666,68,2401,509,-10.77,0.03,566.15 _10V_AH 10.2,13.653

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28546,573

TT8_MAMPS 0.02301 CFSIZE 260165632,250179584

HUMID 2047 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,2,0

TCM_TEMP 16.80 GPS 111207,043129,6250.916,-915.088,29,4.9,48,-9.8

XPDR_PINGS 11

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 179 107.90 SBE_CT 413 24 234.02

Roll_motor 123 90 263.74 SBE_O2 394 19 176.97

VBD_pump_during_apogee 301 971 6921.55 WL_BB2F 457 105 1133.74

VBD_pump_during_surface 199 665 3141.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 158.59 nil 0 0 0.00

Iridium_during_connect 87 160 330.32 nil 0 0 0.00

Iridium_during_xfer 184 223 968.79

Transponder_ping 5 420 49.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.44

TT8 1069 19 216.01

LPSleep 9038 2 201.90

TT8_Active 670 19 135.47

TT8_Sampling 1284 39 521.36

TT8_CF8 468 45 218.78

TT8_Kalman 33 81 27.83

Analog_circuits 1338 12 163.79

GPS_charging 0 0 0.00

Compass 1260 8 102.84

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

19 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -102.53 0.000 2 0.000 0.000 57 2398 3158

126 -0.85 -146.6 4.3 -3.4 5 152 12.43 2.70 -5.62 0.000 4 0.179 0.091 2221 3775 3417

371 -0.85 -146.6 30.8 -8.3 16 375 0.00 2.58 0.00 0.000 6 0.000 0.061 2222 2394 3418

697 -0.85 -146.6 55.6 -8.2 32 701 0.00 2.70 0.00 0.000 4 0.000 0.077 2222 975 3417

713 -0.85 -146.6 56.9 -8.5 33 718 0.00 2.65 0.00 0.000 6 0.000 0.063 2222 2407 3417

1039 -0.85 -146.6 81.8 -8.5 49 1040 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2407 3418

1348 -0.85 -146.6 107.9 -8.5 64 1352 0.00 2.70 0.00 0.000 4 0.000 0.074 2221 982 3417

1380 -0.85 -146.6 110.7 -8.5 65 1386 0.00 2.65 0.00 0.000 6 0.000 0.061 2221 2398 3418

1697 -0.85 -146.6 140.8 -10.1 81 1698 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2398 3418

2005 -0.85 -146.6 166.0 -7.9 96 2009 0.00 2.70 0.00 0.000 4 0.000 0.074 2222 974 3419

2043 -0.85 -146.6 169.1 -7.8 98 2048 0.00 2.65 0.00 0.000 6 0.000 0.061 2222 2405 3418

2368 -0.85 -146.6 193.5 -8.1 114 2373 0.00 2.67 0.00 0.000 4 0.000 0.074 2221 981 3418

2389 -0.85 -146.6 195.2 -7.9 115 2394 0.00 2.65 0.00 0.000 6 0.000 0.061 2222 2416 3418

2716 -0.85 -146.6 219.5 -7.4 131 2721 0.00 2.72 0.00 0.000 4 0.000 0.074 2222 977 3417

2748 -0.85 -146.6 222.1 -7.6 132 2755 0.00 2.65 0.00 0.000 6 0.000 0.061 2221 2397 3417

3063 -0.85 -146.6 245.7 -7.6 148 3065 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2397 3418

3373 -0.85 -146.6 269.7 -8.2 163 3377 0.00 2.70 0.00 0.000 4 0.000 0.075 2222 973 3418

3393 -0.85 -146.6 271.4 -7.9 164 3398 0.00 2.65 0.00 0.000 6 0.000 0.061 2222 2410 3418

3720 -0.85 -146.6 297.6 -8.2 180 3724 0.00 2.72 0.00 0.000 4 0.000 0.076 2222 974 3418

3754 -0.85 -146.6 300.4 -8.5 181 3760 0.00 2.65 0.00 0.000 6 0.000 0.062 2222 2400 3418

4068 -0.85 -146.6 324.8 -7.5 197 4078 0.00 2.67 0.00 0.000 4 0.000 0.076 2222 984 3418

4095 -0.85 -146.6 327.0 -8.3 198 4099 0.00 2.62 0.00 0.000 6 0.000 0.061 2222 2406 3417

4420 -0.85 -146.6 352.5 -8.0 214 4424 0.00 2.70 0.00 0.000 4 0.000 0.074 2222 979 3418

4485 -0.85 -146.6 358.1 -8.8 217 4490 0.00 2.62 0.00 0.000 6 0.000 0.061 2222 2400 3418

4812 -0.85 -146.6 385.9 -8.8 233 4816 0.00 2.70 0.00 0.000 4 0.000 0.075 2222 976 3418

4837 -0.85 -146.6 388.4 -9.7 234 4842 0.00 2.65 0.00 0.000 6 0.000 0.060 2223 2400 3418

5159 -0.85 -146.6 413.1 -6.9 250 5163 0.00 2.62 0.00 0.000 4 0.000 0.084 2222 3773 3418

5179 -0.85 -146.6 414.6 -6.4 251 5184 0.00 2.58 0.00 0.000 6 0.000 0.061 2222 2400 3418

5298 end dive: BOTTOM_OBSTACLE_DETECTED

state 5298 begin apogee

5303 -0.31 0.0 422.4 6.2 257 5425 0.57 0.00 118.28 0.972 6 0.104 0.000 2338 2197 2816

5425 end apogee: CONTROL_FINISHED_OK

state 5425 begin climb

5427 0.85 146.6 425.5 0.0 263 5551 1.20 2.83 115.60 0.956 4 0.076 0.084 2590 3614 2218

5607 0.85 148.3 418.0 6.0 271 5611 0.00 2.70 0.00 0.000 6 0.000 0.068 2590 2204 2218

5928 0.89 188.0 401.1 4.9 287 5970 0.00 2.83 33.42 0.912 4 0.000 0.082 2589 793 2049

6030 0.91 208.6 395.3 5.4 291 6057 0.00 2.62 17.40 0.886 6 0.000 0.056 2590 2199 1966

6366 0.92 217.2 377.3 5.8 308 6375 0.00 0.00 8.00 0.800 6 0.000 0.000 2590 2199 1931

6674 0.92 217.2 355.9 7.3 323 6679 0.00 2.72 0.00 0.000 4 0.000 0.075 2590 779 1930

6713 0.92 217.2 353.0 8.1 325 6717 0.00 2.62 0.00 0.000 6 0.000 0.055 2590 2201 1930

7039 0.92 217.2 329.1 7.2 341 7043 0.00 2.72 0.00 0.000 4 0.000 0.074 2590 774 1930

7070 0.92 217.2 326.7 7.3 342 7077 0.00 2.65 0.00 0.000 6 0.000 0.054 2590 2194 1929

7386 0.92 217.2 303.4 7.2 358 7387 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2193 1929

7695 0.92 217.2 282.3 6.6 373 7696 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2193 1929

8005 0.92 217.2 262.9 6.2 388 8009 0.00 2.70 0.00 0.000 4 0.000 0.079 2590 3617 1929

8030 0.92 217.2 261.2 6.7 389 8035 0.00 2.67 0.00 0.000 6 0.000 0.064 2590 2185 1929

8352 0.93 220.1 241.6 5.9 405 8361 0.00 2.67 3.78 0.547 4 0.000 0.075 2590 785 1919

8396 0.93 220.1 238.9 6.7 407 8400 0.00 2.60 0.00 0.000 6 0.000 0.052 2590 2202 1919

8721 0.93 220.1 218.5 6.1 423 8722 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2202 1919

9030 0.93 220.1 199.5 6.4 438 9034 0.00 2.67 0.00 0.000 4 0.000 0.071 2590 782 1918

9073 0.93 220.1 196.2 8.0 440 9077 0.00 2.60 0.00 0.000 6 0.000 0.053 2590 2205 1919

9400 0.93 220.1 171.3 8.0 456 9401 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2205 1919

9709 0.93 220.1 149.9 6.2 471 9711 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2205 1919

10019 0.93 220.1 130.2 6.9 486 10023 0.00 2.67 0.00 0.000 4 0.000 0.070 2590 781 1919

10050 0.93 220.1 127.4 8.0 487 10058 0.00 2.62 0.00 0.000 6 0.000 0.052 2590 2203 1919

10366 0.93 220.1 107.6 6.0 503 10367 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2203 1920

10677 0.93 220.1 88.0 8.4 518 10678 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2203 1920

10985 0.93 220.1 68.5 7.2 533 10989 0.00 2.65 0.00 0.000 4 0.000 0.079 2590 3616 1919

11024 0.93 224.6 66.5 5.9 535 11035 0.10 2.60 5.32 0.568 6 0.066 0.061 2620 2203 1901

11351 0.93 224.6 38.8 9.6 551 11355 0.00 2.67 0.00 0.000 4 0.000 0.074 2620 784 1901

11416 0.93 224.6 33.2 7.7 554 11420 0.00 2.60 0.00 0.000 6 0.000 0.050 2620 2199 1901

11744 0.93 224.6 4.7 7.9 570 11749 0.00 2.65 0.00 0.000 4 0.000 0.074 2621 3615 1901

11765 0.93 224.6 2.6 9.2 571 11770 0.00 2.65 0.00 0.000 6 0.000 0.061 2620 2177 1901

11773 end climb: SURFACE_DEPTH_REACHED

state 11774 begin surface coast

11804 end surface coast: CONTROL_FINISHED_OK

state 11804 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	162	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	14	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	-2078850.1	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	010032,6251.232,-914.295,38,1.9,38,-9.8	TGT_NAME	IFRVAL
_CALLS	2	TGT_LATLONG	6312.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.102,0.196
_SM_DEPTHo	1.40	KALMAN_X	-136371.4,1360.6,87.7,127194.2,-15090.6
_SM_ANGLEo	-50.4	KALMAN_Y	103419.3,1570.9,-286.9,30442.0,-14975.0
GPS2	010839,6251.199,-914.383,10,2.0,10,-9.8	MHEAD_RNG_PITCHd_Wd	37.2,40353,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.9,1.016791	ALTIM_BOTTOM_PING	325.2,106.5
SM_CCo	11824,199.95,0.666,2,0,509,566.15	_24V_AH	23.6,28.392
SM_GC	1.26,0.00,0.00,199.95,0.000,0.000,0.666,68,2401,509,-10.77,0.03,566.15	_10V_AH	10.2,13.653
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28546,573
TT8_MAMPS	0.02301	CFSIZE	260165632,250179584
HUMID	2047	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
TCM_TEMP	16.80	GPS	111207,043129,6250.916,-915.088,29,4.9,48,-9.8
XPDR_PINGS	11

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	179	107.90	SBE_CT	413	24	234.02
Roll_motor	123	90	263.74	SBE_O2	394	19	176.97
VBD_pump_during_apogee	301	971	6921.55	WL_BB2F	457	105	1133.74
VBD_pump_during_surface	199	665	3141.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	158.59	nil	0	0	0.00
Iridium_during_connect	87	160	330.32	nil	0	0	0.00
Iridium_during_xfer	184	223	968.79
Transponder_ping	5	420	49.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.44
TT8	1069	19	216.01
LPSleep	9038	2	201.90
TT8_Active	670	19	135.47
TT8_Sampling	1284	39	521.36
TT8_CF8	468	45	218.78
TT8_Kalman	33	81	27.83
Analog_circuits	1338	12	163.79
GPS_charging	0	0	0.00
Compass	1260	8	102.84
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
19	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-102.53	0.000	2	0.000	0.000	57	2398	3158
126	-0.85	-146.6	4.3	-3.4	5	152	12.43	2.70	-5.62	0.000	4	0.179	0.091	2221	3775	3417
371	-0.85	-146.6	30.8	-8.3	16	375	0.00	2.58	0.00	0.000	6	0.000	0.061	2222	2394	3418
697	-0.85	-146.6	55.6	-8.2	32	701	0.00	2.70	0.00	0.000	4	0.000	0.077	2222	975	3417
713	-0.85	-146.6	56.9	-8.5	33	718	0.00	2.65	0.00	0.000	6	0.000	0.063	2222	2407	3417
1039	-0.85	-146.6	81.8	-8.5	49	1040	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2407	3418
1348	-0.85	-146.6	107.9	-8.5	64	1352	0.00	2.70	0.00	0.000	4	0.000	0.074	2221	982	3417
1380	-0.85	-146.6	110.7	-8.5	65	1386	0.00	2.65	0.00	0.000	6	0.000	0.061	2221	2398	3418
1697	-0.85	-146.6	140.8	-10.1	81	1698	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2398	3418
2005	-0.85	-146.6	166.0	-7.9	96	2009	0.00	2.70	0.00	0.000	4	0.000	0.074	2222	974	3419
2043	-0.85	-146.6	169.1	-7.8	98	2048	0.00	2.65	0.00	0.000	6	0.000	0.061	2222	2405	3418
2368	-0.85	-146.6	193.5	-8.1	114	2373	0.00	2.67	0.00	0.000	4	0.000	0.074	2221	981	3418
2389	-0.85	-146.6	195.2	-7.9	115	2394	0.00	2.65	0.00	0.000	6	0.000	0.061	2222	2416	3418
2716	-0.85	-146.6	219.5	-7.4	131	2721	0.00	2.72	0.00	0.000	4	0.000	0.074	2222	977	3417
2748	-0.85	-146.6	222.1	-7.6	132	2755	0.00	2.65	0.00	0.000	6	0.000	0.061	2221	2397	3417
3063	-0.85	-146.6	245.7	-7.6	148	3065	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2397	3418
3373	-0.85	-146.6	269.7	-8.2	163	3377	0.00	2.70	0.00	0.000	4	0.000	0.075	2222	973	3418
3393	-0.85	-146.6	271.4	-7.9	164	3398	0.00	2.65	0.00	0.000	6	0.000	0.061	2222	2410	3418
3720	-0.85	-146.6	297.6	-8.2	180	3724	0.00	2.72	0.00	0.000	4	0.000	0.076	2222	974	3418
3754	-0.85	-146.6	300.4	-8.5	181	3760	0.00	2.65	0.00	0.000	6	0.000	0.062	2222	2400	3418
4068	-0.85	-146.6	324.8	-7.5	197	4078	0.00	2.67	0.00	0.000	4	0.000	0.076	2222	984	3418
4095	-0.85	-146.6	327.0	-8.3	198	4099	0.00	2.62	0.00	0.000	6	0.000	0.061	2222	2406	3417
4420	-0.85	-146.6	352.5	-8.0	214	4424	0.00	2.70	0.00	0.000	4	0.000	0.074	2222	979	3418
4485	-0.85	-146.6	358.1	-8.8	217	4490	0.00	2.62	0.00	0.000	6	0.000	0.061	2222	2400	3418
4812	-0.85	-146.6	385.9	-8.8	233	4816	0.00	2.70	0.00	0.000	4	0.000	0.075	2222	976	3418
4837	-0.85	-146.6	388.4	-9.7	234	4842	0.00	2.65	0.00	0.000	6	0.000	0.060	2223	2400	3418
5159	-0.85	-146.6	413.1	-6.9	250	5163	0.00	2.62	0.00	0.000	4	0.000	0.084	2222	3773	3418
5179	-0.85	-146.6	414.6	-6.4	251	5184	0.00	2.58	0.00	0.000	6	0.000	0.061	2222	2400	3418
5298	end dive: BOTTOM_OBSTACLE_DETECTED
state	5298	begin apogee
5303	-0.31	0.0	422.4	6.2	257	5425	0.57	0.00	118.28	0.972	6	0.104	0.000	2338	2197	2816
5425	end apogee: CONTROL_FINISHED_OK
state	5425	begin climb
5427	0.85	146.6	425.5	0.0	263	5551	1.20	2.83	115.60	0.956	4	0.076	0.084	2590	3614	2218
5607	0.85	148.3	418.0	6.0	271	5611	0.00	2.70	0.00	0.000	6	0.000	0.068	2590	2204	2218
5928	0.89	188.0	401.1	4.9	287	5970	0.00	2.83	33.42	0.912	4	0.000	0.082	2589	793	2049
6030	0.91	208.6	395.3	5.4	291	6057	0.00	2.62	17.40	0.886	6	0.000	0.056	2590	2199	1966
6366	0.92	217.2	377.3	5.8	308	6375	0.00	0.00	8.00	0.800	6	0.000	0.000	2590	2199	1931
6674	0.92	217.2	355.9	7.3	323	6679	0.00	2.72	0.00	0.000	4	0.000	0.075	2590	779	1930
6713	0.92	217.2	353.0	8.1	325	6717	0.00	2.62	0.00	0.000	6	0.000	0.055	2590	2201	1930
7039	0.92	217.2	329.1	7.2	341	7043	0.00	2.72	0.00	0.000	4	0.000	0.074	2590	774	1930
7070	0.92	217.2	326.7	7.3	342	7077	0.00	2.65	0.00	0.000	6	0.000	0.054	2590	2194	1929
7386	0.92	217.2	303.4	7.2	358	7387	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2193	1929
7695	0.92	217.2	282.3	6.6	373	7696	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2193	1929
8005	0.92	217.2	262.9	6.2	388	8009	0.00	2.70	0.00	0.000	4	0.000	0.079	2590	3617	1929
8030	0.92	217.2	261.2	6.7	389	8035	0.00	2.67	0.00	0.000	6	0.000	0.064	2590	2185	1929
8352	0.93	220.1	241.6	5.9	405	8361	0.00	2.67	3.78	0.547	4	0.000	0.075	2590	785	1919
8396	0.93	220.1	238.9	6.7	407	8400	0.00	2.60	0.00	0.000	6	0.000	0.052	2590	2202	1919
8721	0.93	220.1	218.5	6.1	423	8722	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2202	1919
9030	0.93	220.1	199.5	6.4	438	9034	0.00	2.67	0.00	0.000	4	0.000	0.071	2590	782	1918
9073	0.93	220.1	196.2	8.0	440	9077	0.00	2.60	0.00	0.000	6	0.000	0.053	2590	2205	1919
9400	0.93	220.1	171.3	8.0	456	9401	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2205	1919
9709	0.93	220.1	149.9	6.2	471	9711	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2205	1919
10019	0.93	220.1	130.2	6.9	486	10023	0.00	2.67	0.00	0.000	4	0.000	0.070	2590	781	1919
10050	0.93	220.1	127.4	8.0	487	10058	0.00	2.62	0.00	0.000	6	0.000	0.052	2590	2203	1919
10366	0.93	220.1	107.6	6.0	503	10367	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2203	1920
10677	0.93	220.1	88.0	8.4	518	10678	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2203	1920
10985	0.93	220.1	68.5	7.2	533	10989	0.00	2.65	0.00	0.000	4	0.000	0.079	2590	3616	1919
11024	0.93	224.6	66.5	5.9	535	11035	0.10	2.60	5.32	0.568	6	0.066	0.061	2620	2203	1901
11351	0.93	224.6	38.8	9.6	551	11355	0.00	2.67	0.00	0.000	4	0.000	0.074	2620	784	1901
11416	0.93	224.6	33.2	7.7	554	11420	0.00	2.60	0.00	0.000	6	0.000	0.050	2620	2199	1901
11744	0.93	224.6	4.7	7.9	570	11749	0.00	2.65	0.00	0.000	4	0.000	0.074	2621	3615	1901
11765	0.93	224.6	2.6	9.2	571	11770	0.00	2.65	0.00	0.000	6	0.000	0.061	2620	2177	1901
11773	end climb: SURFACE_DEPTH_REACHED
state	11774	begin surface coast
11804	end surface coast: CONTROL_FINISHED_OK
state	11804	begin surface