Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 167 * 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 167 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 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 15 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 -2079021.1 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 -2079021.1

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 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 15 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 167 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 174255,6258.190,-900.354,38,2.0,38,-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 0.065,0.212

_SM_DEPTHo 1.22 KALMAN_X -137588.3,45.9,533.8,141678.6,-12971.6

_SM_ANGLEo -42.3 KALMAN_Y 99092.1,696.1,982.5,47488.6,-17735.9

GPS2 175128,6258.273,-900.321,35,1.9,35,-9.8 MHEAD_RNG_PITCHd_Wd 26.9,25423,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013337 ALTIM_BOTTOM_PING 350.3,102.8

SM_CCo 11670,148.07,0.651,2,0,509,566.15 _24V_AH 23.7,29.078

SM_GC 1.39,0.00,0.00,148.07,0.000,0.000,0.651,66,2400,509,-10.78,0.00,566.15 _10V_AH 10.2,13.957

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28570,565

TT8_MAMPS 0.023777 CFSIZE 260165632,249950208

HUMID 2070 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,2,0

TCM_TEMP 16.90 GPS 111207,211058,6301.603,-856.087,37,3.8,56,-9.7

XPDR_PINGS 15

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 101.54 SBE_CT 401 24 228.32

Roll_motor 132 84 265.34 SBE_O2 393 19 177.14

VBD_pump_during_apogee 368 989 8644.07 WL_BB2F 440 105 1095.90

VBD_pump_during_surface 148 651 2285.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 159.10 nil 0 0 0.00

Iridium_during_connect 79 160 300.57 nil 0 0 0.00

Iridium_during_xfer 193 223 1021.33

Transponder_ping 6 420 62.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.08

TT8 1068 19 215.78

LPSleep 8749 2 195.45

TT8_Active 667 19 134.81

TT8_Sampling 1390 39 564.51

TT8_CF8 474 45 221.65

TT8_Kalman 33 81 27.84

Analog_circuits 1375 12 168.37

GPS_charging 0 0 0.00

Compass 1337 8 109.12

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.85 -146.6 0.0 0.0 0 125 0.00 0.00 -102.65 0.000 2 0.000 0.000 73 2400 3119

127 -0.85 -146.6 3.4 -2.4 5 153 12.05 2.60 -7.78 0.000 4 0.170 0.084 2220 3773 3416

404 -0.85 -146.6 22.8 -7.9 17 409 0.00 2.55 0.00 0.000 6 0.000 0.053 2219 2400 3417

726 -0.85 -146.6 47.9 -8.4 33 730 0.00 2.60 0.00 0.000 4 0.000 0.073 2219 3772 3417

746 -0.85 -146.6 50.2 -10.5 34 751 0.00 2.55 0.00 0.000 6 0.000 0.054 2220 2401 3417

1074 -0.85 -146.6 87.4 -10.8 50 1078 0.00 2.70 0.00 0.000 4 0.000 0.075 2220 977 3417

1112 -0.85 -146.6 91.2 -9.6 52 1117 0.00 2.60 0.00 0.000 6 0.000 0.056 2219 2401 3416

1439 -0.85 -146.6 117.5 -8.7 68 1443 0.00 2.67 0.00 0.000 4 0.000 0.071 2219 982 3416

1465 -0.85 -146.6 119.7 -7.8 69 1469 0.00 2.58 0.00 0.000 6 0.000 0.054 2219 2401 3416

1786 -0.85 -146.6 143.6 -8.1 85 1791 0.00 2.67 0.00 0.000 4 0.000 0.071 2219 983 3417

1807 -0.85 -146.6 145.8 -9.7 86 1812 0.00 2.58 0.00 0.000 6 0.000 0.053 2220 2401 3416

2134 -0.85 -146.6 172.0 -8.0 102 2138 0.00 2.67 0.00 0.000 4 0.000 0.071 2219 981 3416

2194 -0.85 -146.6 177.2 -7.9 105 2199 0.00 2.60 0.00 0.000 6 0.000 0.056 2220 2404 3417

2521 -0.85 -146.6 204.1 -8.2 121 2525 0.00 2.70 0.00 0.000 4 0.000 0.073 2219 973 3417

2575 -0.85 -146.6 209.2 -8.8 123 2582 0.00 2.62 0.00 0.000 6 0.000 0.056 2220 2395 3417

2890 -0.85 -146.6 232.8 -7.2 139 2895 0.00 2.65 0.00 0.000 4 0.000 0.073 2219 982 3417

2917 -0.85 -146.6 234.9 -7.6 140 2921 0.00 2.60 0.00 0.000 6 0.000 0.056 2220 2404 3416

3238 -0.85 -146.6 256.8 -6.6 156 3239 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3417

3547 -0.85 -146.6 280.9 -8.8 171 3552 0.00 2.67 0.00 0.000 4 0.000 0.074 2220 982 3417

3614 -0.85 -146.6 287.6 -9.7 174 3618 0.00 2.60 0.00 0.000 6 0.000 0.057 2219 2406 3417

3934 -0.85 -146.6 318.8 -9.6 190 3939 0.00 2.67 0.00 0.000 4 0.000 0.072 2220 982 3417

3990 -0.85 -146.6 324.0 -9.4 192 3996 0.00 2.60 0.00 0.000 6 0.000 0.058 2220 2401 3417

4305 -0.85 -146.6 349.1 -7.7 208 4309 0.00 2.67 0.00 0.000 4 0.000 0.073 2220 982 3417

4359 -0.85 -146.6 353.5 -8.1 210 4366 0.00 2.60 0.00 0.000 6 0.000 0.057 2220 2392 3417

4675 -0.85 -146.6 378.3 -7.8 226 4679 0.00 2.67 0.00 0.000 4 0.000 0.074 2220 975 3417

4763 -0.85 -146.6 385.5 -8.1 230 4767 0.00 2.60 0.00 0.000 6 0.000 0.057 2219 2400 3417

5090 -0.85 -146.6 411.8 -8.2 246 5095 0.00 2.67 0.00 0.000 4 0.000 0.075 2220 982 3417

5116 -0.85 -146.6 414.1 -8.7 247 5121 0.00 2.60 0.00 0.000 6 0.000 0.057 2219 2393 3417

5438 -0.85 -146.6 436.6 -5.7 263 5442 0.00 2.60 0.00 0.000 4 0.000 0.081 2220 3766 3417

5480 -0.85 -146.6 439.6 -6.5 265 5485 0.00 2.53 0.00 0.000 6 0.000 0.055 2219 2401 3418

5538 end dive: BOTTOM_OBSTACLE_DETECTED

state 5538 begin apogee

5543 -0.31 0.0 443.3 6.1 268 5664 0.60 0.00 118.15 0.989 6 0.105 0.000 2340 2194 2817

5665 end apogee: CONTROL_FINISHED_OK

state 5665 begin climb

5667 0.85 146.6 447.0 0.0 274 5792 1.17 2.78 116.82 0.957 4 0.074 0.077 2589 795 2218

5876 0.85 146.6 437.6 6.3 284 5881 0.00 2.60 0.00 0.000 6 0.000 0.054 2589 2206 2216

6203 0.85 146.6 418.0 6.7 300 6207 0.00 2.70 0.00 0.000 4 0.000 0.081 2589 3613 2216

6286 0.85 146.6 411.0 8.5 304 6290 0.00 2.67 0.00 0.000 6 0.000 0.066 2589 2197 2216

6611 0.87 171.6 391.9 5.3 320 6637 0.00 2.80 20.42 0.898 4 0.000 0.081 2589 3616 2116

6671 0.87 171.6 388.1 7.2 323 6675 0.00 2.70 0.00 0.000 6 0.000 0.067 2589 2200 2116

6996 0.87 171.6 367.5 6.1 339 6997 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2200 2115

7305 0.91 208.6 351.1 5.0 354 7340 0.00 2.78 29.80 0.909 4 0.000 0.077 2589 784 1965

7402 0.94 230.8 346.3 5.4 357 7429 0.12 2.62 18.58 0.879 6 0.058 0.053 2622 2203 1875

7737 0.94 230.8 322.2 7.8 374 7738 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2203 1875

8046 0.94 230.8 297.3 8.3 389 8047 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2203 1874

8355 0.94 230.8 271.5 7.6 404 8356 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2203 1874

8664 0.94 230.8 250.0 7.3 419 8669 0.00 2.67 0.00 0.000 4 0.000 0.069 2622 779 1874

8704 0.94 230.8 247.1 8.0 421 8708 0.00 2.60 0.00 0.000 6 0.000 0.049 2622 2203 1874

9029 0.94 230.8 221.8 8.4 437 9033 0.00 2.65 0.00 0.000 4 0.000 0.074 2622 3613 1874

9077 0.94 230.8 217.1 10.0 439 9082 0.00 2.65 0.00 0.000 6 0.000 0.061 2622 2192 1874

9399 0.94 230.8 187.4 9.5 455 9403 0.00 2.65 0.00 0.000 4 0.000 0.073 2622 784 1874

9447 0.94 230.8 182.8 9.6 457 9451 0.00 2.60 0.00 0.000 6 0.000 0.050 2622 2196 1874

9768 0.94 230.8 153.2 9.5 473 9772 0.00 2.65 0.00 0.000 4 0.000 0.074 2622 3613 1874

9806 0.94 230.8 149.6 10.2 475 9810 0.00 2.62 0.00 0.000 6 0.000 0.062 2622 2196 1874

10132 0.94 230.8 122.1 8.5 491 10136 0.00 2.65 0.00 0.000 4 0.000 0.072 2622 784 1874

10193 0.94 230.8 117.0 8.6 494 10197 0.00 2.58 0.00 0.000 6 0.000 0.049 2622 2201 1874

10519 0.94 230.8 89.1 6.9 510 10520 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2201 1873

10828 0.94 230.8 67.5 8.0 525 10832 0.00 2.65 0.00 0.000 4 0.000 0.066 2622 781 1875

10870 0.94 230.8 63.9 8.1 527 10875 0.00 2.60 0.00 0.000 6 0.000 0.048 2622 2199 1875

11198 0.94 231.0 43.6 6.0 543 11203 0.00 2.65 0.00 0.000 4 0.000 0.074 2622 3613 1875

11238 1.03 315.6 42.4 3.7 545 11308 0.00 2.60 64.85 0.700 6 0.000 0.059 2622 2200 1530

11628 end climb: SURFACE_DEPTH_REACHED

state 11628 begin surface coast

11650 end surface coast: CONTROL_FINISHED_OK

state 11650 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	167	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	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	15	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	-2079021.1	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	174255,6258.190,-900.354,38,2.0,38,-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	0.065,0.212
_SM_DEPTHo	1.22	KALMAN_X	-137588.3,45.9,533.8,141678.6,-12971.6
_SM_ANGLEo	-42.3	KALMAN_Y	99092.1,696.1,982.5,47488.6,-17735.9
GPS2	175128,6258.273,-900.321,35,1.9,35,-9.8	MHEAD_RNG_PITCHd_Wd	26.9,25423,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.013337	ALTIM_BOTTOM_PING	350.3,102.8
SM_CCo	11670,148.07,0.651,2,0,509,566.15	_24V_AH	23.7,29.078
SM_GC	1.39,0.00,0.00,148.07,0.000,0.000,0.651,66,2400,509,-10.78,0.00,566.15	_10V_AH	10.2,13.957
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28570,565
TT8_MAMPS	0.023777	CFSIZE	260165632,249950208
HUMID	2070	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,2,0
TCM_TEMP	16.90	GPS	111207,211058,6301.603,-856.087,37,3.8,56,-9.7
XPDR_PINGS	15

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	101.54	SBE_CT	401	24	228.32
Roll_motor	132	84	265.34	SBE_O2	393	19	177.14
VBD_pump_during_apogee	368	989	8644.07	WL_BB2F	440	105	1095.90
VBD_pump_during_surface	148	651	2285.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	159.10	nil	0	0	0.00
Iridium_during_connect	79	160	300.57	nil	0	0	0.00
Iridium_during_xfer	193	223	1021.33
Transponder_ping	6	420	62.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.08
TT8	1068	19	215.78
LPSleep	8749	2	195.45
TT8_Active	667	19	134.81
TT8_Sampling	1390	39	564.51
TT8_CF8	474	45	221.65
TT8_Kalman	33	81	27.84
Analog_circuits	1375	12	168.37
GPS_charging	0	0	0.00
Compass	1337	8	109.12
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.85	-146.6	0.0	0.0	0	125	0.00	0.00	-102.65	0.000	2	0.000	0.000	73	2400	3119
127	-0.85	-146.6	3.4	-2.4	5	153	12.05	2.60	-7.78	0.000	4	0.170	0.084	2220	3773	3416
404	-0.85	-146.6	22.8	-7.9	17	409	0.00	2.55	0.00	0.000	6	0.000	0.053	2219	2400	3417
726	-0.85	-146.6	47.9	-8.4	33	730	0.00	2.60	0.00	0.000	4	0.000	0.073	2219	3772	3417
746	-0.85	-146.6	50.2	-10.5	34	751	0.00	2.55	0.00	0.000	6	0.000	0.054	2220	2401	3417
1074	-0.85	-146.6	87.4	-10.8	50	1078	0.00	2.70	0.00	0.000	4	0.000	0.075	2220	977	3417
1112	-0.85	-146.6	91.2	-9.6	52	1117	0.00	2.60	0.00	0.000	6	0.000	0.056	2219	2401	3416
1439	-0.85	-146.6	117.5	-8.7	68	1443	0.00	2.67	0.00	0.000	4	0.000	0.071	2219	982	3416
1465	-0.85	-146.6	119.7	-7.8	69	1469	0.00	2.58	0.00	0.000	6	0.000	0.054	2219	2401	3416
1786	-0.85	-146.6	143.6	-8.1	85	1791	0.00	2.67	0.00	0.000	4	0.000	0.071	2219	983	3417
1807	-0.85	-146.6	145.8	-9.7	86	1812	0.00	2.58	0.00	0.000	6	0.000	0.053	2220	2401	3416
2134	-0.85	-146.6	172.0	-8.0	102	2138	0.00	2.67	0.00	0.000	4	0.000	0.071	2219	981	3416
2194	-0.85	-146.6	177.2	-7.9	105	2199	0.00	2.60	0.00	0.000	6	0.000	0.056	2220	2404	3417
2521	-0.85	-146.6	204.1	-8.2	121	2525	0.00	2.70	0.00	0.000	4	0.000	0.073	2219	973	3417
2575	-0.85	-146.6	209.2	-8.8	123	2582	0.00	2.62	0.00	0.000	6	0.000	0.056	2220	2395	3417
2890	-0.85	-146.6	232.8	-7.2	139	2895	0.00	2.65	0.00	0.000	4	0.000	0.073	2219	982	3417
2917	-0.85	-146.6	234.9	-7.6	140	2921	0.00	2.60	0.00	0.000	6	0.000	0.056	2220	2404	3416
3238	-0.85	-146.6	256.8	-6.6	156	3239	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3417
3547	-0.85	-146.6	280.9	-8.8	171	3552	0.00	2.67	0.00	0.000	4	0.000	0.074	2220	982	3417
3614	-0.85	-146.6	287.6	-9.7	174	3618	0.00	2.60	0.00	0.000	6	0.000	0.057	2219	2406	3417
3934	-0.85	-146.6	318.8	-9.6	190	3939	0.00	2.67	0.00	0.000	4	0.000	0.072	2220	982	3417
3990	-0.85	-146.6	324.0	-9.4	192	3996	0.00	2.60	0.00	0.000	6	0.000	0.058	2220	2401	3417
4305	-0.85	-146.6	349.1	-7.7	208	4309	0.00	2.67	0.00	0.000	4	0.000	0.073	2220	982	3417
4359	-0.85	-146.6	353.5	-8.1	210	4366	0.00	2.60	0.00	0.000	6	0.000	0.057	2220	2392	3417
4675	-0.85	-146.6	378.3	-7.8	226	4679	0.00	2.67	0.00	0.000	4	0.000	0.074	2220	975	3417
4763	-0.85	-146.6	385.5	-8.1	230	4767	0.00	2.60	0.00	0.000	6	0.000	0.057	2219	2400	3417
5090	-0.85	-146.6	411.8	-8.2	246	5095	0.00	2.67	0.00	0.000	4	0.000	0.075	2220	982	3417
5116	-0.85	-146.6	414.1	-8.7	247	5121	0.00	2.60	0.00	0.000	6	0.000	0.057	2219	2393	3417
5438	-0.85	-146.6	436.6	-5.7	263	5442	0.00	2.60	0.00	0.000	4	0.000	0.081	2220	3766	3417
5480	-0.85	-146.6	439.6	-6.5	265	5485	0.00	2.53	0.00	0.000	6	0.000	0.055	2219	2401	3418
5538	end dive: BOTTOM_OBSTACLE_DETECTED
state	5538	begin apogee
5543	-0.31	0.0	443.3	6.1	268	5664	0.60	0.00	118.15	0.989	6	0.105	0.000	2340	2194	2817
5665	end apogee: CONTROL_FINISHED_OK
state	5665	begin climb
5667	0.85	146.6	447.0	0.0	274	5792	1.17	2.78	116.82	0.957	4	0.074	0.077	2589	795	2218
5876	0.85	146.6	437.6	6.3	284	5881	0.00	2.60	0.00	0.000	6	0.000	0.054	2589	2206	2216
6203	0.85	146.6	418.0	6.7	300	6207	0.00	2.70	0.00	0.000	4	0.000	0.081	2589	3613	2216
6286	0.85	146.6	411.0	8.5	304	6290	0.00	2.67	0.00	0.000	6	0.000	0.066	2589	2197	2216
6611	0.87	171.6	391.9	5.3	320	6637	0.00	2.80	20.42	0.898	4	0.000	0.081	2589	3616	2116
6671	0.87	171.6	388.1	7.2	323	6675	0.00	2.70	0.00	0.000	6	0.000	0.067	2589	2200	2116
6996	0.87	171.6	367.5	6.1	339	6997	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2200	2115
7305	0.91	208.6	351.1	5.0	354	7340	0.00	2.78	29.80	0.909	4	0.000	0.077	2589	784	1965
7402	0.94	230.8	346.3	5.4	357	7429	0.12	2.62	18.58	0.879	6	0.058	0.053	2622	2203	1875
7737	0.94	230.8	322.2	7.8	374	7738	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2203	1875
8046	0.94	230.8	297.3	8.3	389	8047	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2203	1874
8355	0.94	230.8	271.5	7.6	404	8356	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2203	1874
8664	0.94	230.8	250.0	7.3	419	8669	0.00	2.67	0.00	0.000	4	0.000	0.069	2622	779	1874
8704	0.94	230.8	247.1	8.0	421	8708	0.00	2.60	0.00	0.000	6	0.000	0.049	2622	2203	1874
9029	0.94	230.8	221.8	8.4	437	9033	0.00	2.65	0.00	0.000	4	0.000	0.074	2622	3613	1874
9077	0.94	230.8	217.1	10.0	439	9082	0.00	2.65	0.00	0.000	6	0.000	0.061	2622	2192	1874
9399	0.94	230.8	187.4	9.5	455	9403	0.00	2.65	0.00	0.000	4	0.000	0.073	2622	784	1874
9447	0.94	230.8	182.8	9.6	457	9451	0.00	2.60	0.00	0.000	6	0.000	0.050	2622	2196	1874
9768	0.94	230.8	153.2	9.5	473	9772	0.00	2.65	0.00	0.000	4	0.000	0.074	2622	3613	1874
9806	0.94	230.8	149.6	10.2	475	9810	0.00	2.62	0.00	0.000	6	0.000	0.062	2622	2196	1874
10132	0.94	230.8	122.1	8.5	491	10136	0.00	2.65	0.00	0.000	4	0.000	0.072	2622	784	1874
10193	0.94	230.8	117.0	8.6	494	10197	0.00	2.58	0.00	0.000	6	0.000	0.049	2622	2201	1874
10519	0.94	230.8	89.1	6.9	510	10520	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2201	1873
10828	0.94	230.8	67.5	8.0	525	10832	0.00	2.65	0.00	0.000	4	0.000	0.066	2622	781	1875
10870	0.94	230.8	63.9	8.1	527	10875	0.00	2.60	0.00	0.000	6	0.000	0.048	2622	2199	1875
11198	0.94	231.0	43.6	6.0	543	11203	0.00	2.65	0.00	0.000	4	0.000	0.074	2622	3613	1875
11238	1.03	315.6	42.4	3.7	545	11308	0.00	2.60	64.85	0.700	6	0.000	0.059	2622	2200	1530
11628	end climb: SURFACE_DEPTH_REACHED
state	11628	begin surface coast
11650	end surface coast: CONTROL_FINISHED_OK
state	11650	begin surface