Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 174 * 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 174 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 11 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 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 -2079276.2 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 -2079276.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 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 11 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 174 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 212858,6312.776,-847.652,39,6.6,58,-9.7 TGT_NAME IFRVAL

_CALLS 2 TGT_LATLONG 6312.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.217,0.043

_SM_DEPTHo 1.37 KALMAN_X -116938.2,-1164.1,-252.1,134211.3,14419.3

_SM_ANGLEo -54.6 KALMAN_Y 98323.5,540.5,583.0,75931.8,-6729.8

GPS2 213711,6312.932,-847.655,18,2.2,37,-9.7 MHEAD_RNG_PITCHd_Wd 291.0,10452,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.001073 ALTIM_BOTTOM_PING 450.5,99.2

SM_CCo 13666,171.30,0.671,2,0,508,566.15 _24V_AH 23.5,30.146

SM_GC 1.28,0.00,0.00,171.30,0.000,0.000,0.671,73,2404,508,-10.75,0.14,566.15 _10V_AH 10.2,14.455

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34856,662

TT8_MAMPS 0.023777 CFSIZE 260165632,249606144

HUMID 2074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,2,0

TCM_TEMP 16.80 GPS 131207,013022,6315.729,-848.698,39,2.4,58,-9.7

XPDR_PINGS 44

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 176 106.75 SBE_CT 483 24 272.57

Roll_motor 107 83 210.37 SBE_O2 454 19 202.89

VBD_pump_during_apogee 340 1095 8761.55 WL_BB2F 459 105 1133.39

VBD_pump_during_surface 171 671 2701.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 157.89 nil 0 0 0.00

Iridium_during_connect 119 160 450.43 nil 0 0 0.00

Iridium_during_xfer 132 223 695.35

Transponder_ping 14 420 143.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 38 50 19.55

TT8 1214 19 245.28

LPSleep 10499 2 234.55

TT8_Active 697 19 140.91

TT8_Sampling 1480 39 601.03

TT8_CF8 454 45 212.14

TT8_Kalman 33 81 27.84

Analog_circuits 1405 12 172.01

GPS_charging 0 0 0.00

Compass 1430 8 116.70

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 -102.50 0.000 2 0.000 0.000 74 2403 3147

127 -0.85 -146.6 4.0 -2.9 5 153 12.25 2.72 -5.90 0.000 4 0.176 0.084 2222 987 3417

405 -0.85 -146.6 30.6 -8.3 17 410 0.00 2.62 0.00 0.000 6 0.000 0.058 2222 2409 3418

727 -0.85 -146.6 57.1 -8.0 33 728 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2410 3418

1036 -0.85 -146.6 83.5 -8.7 48 1041 0.00 2.70 0.00 0.000 4 0.000 0.068 2222 974 3418

1098 -0.85 -146.6 89.1 -8.9 51 1102 0.00 2.62 0.00 0.000 6 0.000 0.058 2222 2400 3418

1423 -0.85 -146.6 117.5 -8.5 67 1425 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3418

1733 -0.85 -146.6 142.3 -7.9 82 1737 0.00 2.67 0.00 0.000 4 0.000 0.070 2222 978 3418

1810 -0.85 -146.6 148.5 -7.8 85 1817 0.00 2.65 0.00 0.000 6 0.000 0.057 2222 2403 3418

2125 -0.85 -146.6 173.0 -7.8 101 2127 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2403 3418

2435 -0.85 -146.6 199.0 -8.3 116 2439 0.00 2.67 0.00 0.000 4 0.000 0.071 2222 978 3418

2496 -0.85 -146.6 204.0 -8.2 119 2500 0.00 2.60 0.00 0.000 6 0.000 0.056 2222 2400 3418

2821 -0.85 -146.6 229.3 -7.6 135 2825 0.00 2.67 0.00 0.000 4 0.000 0.071 2222 977 3418

2859 -0.85 -146.6 232.2 -7.1 137 2864 0.00 2.62 0.00 0.000 6 0.000 0.058 2222 2406 3418

3185 -0.85 -146.6 256.4 -7.9 153 3189 0.00 2.70 0.00 0.000 4 0.000 0.072 2222 978 3418

3239 -0.85 -146.6 261.2 -8.8 155 3246 0.00 2.62 0.00 0.000 6 0.000 0.058 2222 2397 3417

3556 -0.85 -146.6 285.6 -7.4 171 3557 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2397 3418

3864 -0.85 -146.6 309.7 -8.2 186 3869 0.00 2.67 0.00 0.000 4 0.000 0.073 2222 979 3418

3947 -0.85 -146.6 316.7 -8.2 190 3952 0.00 2.62 0.00 0.000 6 0.000 0.059 2222 2405 3418

4274 -0.85 -146.6 343.2 -7.9 206 4278 0.00 2.70 0.00 0.000 4 0.000 0.074 2222 979 3418

4339 -0.85 -146.6 348.2 -8.2 209 4344 0.00 2.60 0.00 0.000 6 0.000 0.059 2222 2400 3418

4666 -0.85 -146.6 369.7 -6.2 225 4667 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3418

4975 -0.85 -146.6 390.5 -7.4 240 4979 0.00 2.67 0.00 0.000 4 0.000 0.072 2222 978 3418

5040 -0.85 -146.6 396.0 -8.6 243 5045 0.00 2.62 0.00 0.000 6 0.000 0.059 2222 2406 3418

5370 -0.85 -146.6 425.9 -9.2 259 5374 0.00 2.70 0.00 0.000 4 0.000 0.073 2222 979 3418

5480 -0.85 -146.6 435.9 -8.8 264 5484 0.00 2.62 0.00 0.000 6 0.000 0.058 2222 2405 3418

5807 -0.85 -146.6 459.1 -6.9 280 5811 0.00 2.72 0.00 0.000 4 0.000 0.074 2222 972 3418

5883 -0.85 -146.6 464.4 -7.1 283 5890 0.00 2.65 0.00 0.000 6 0.000 0.062 2222 2404 3418

6198 -0.85 -146.6 485.3 -7.1 299 6200 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3418

6508 -0.85 -146.6 506.3 -7.0 314 6512 0.00 2.72 0.00 0.000 4 0.000 0.078 2221 979 3417

6579 -0.85 -146.6 511.6 -7.5 317 6583 0.00 2.65 0.00 0.000 6 0.000 0.064 2222 2402 3417

6900 -0.85 -146.6 536.8 -8.5 333 6901 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2402 3416

6939 end dive: BOTTOM_OBSTACLE_DETECTED

state 6939 begin apogee

6944 -0.31 0.0 539.9 8.2 335 7067 0.60 0.00 119.68 1.091 6 0.120 0.000 2338 2192 2817

7068 end apogee: CONTROL_FINISHED_OK

state 7068 begin climb

7070 0.85 146.6 544.6 0.0 341 7192 1.30 0.00 117.85 1.095 6 0.109 0.000 2590 2192 2219

7491 0.96 254.4 527.9 3.0 362 7580 0.15 0.00 85.97 1.071 6 0.068 0.000 2627 2192 1779

7881 0.96 254.4 494.9 9.6 381 7882 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2192 1777

8190 0.96 254.4 465.4 9.0 396 8191 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2192 1776

8499 0.96 254.4 438.1 7.9 411 8503 0.00 2.70 0.00 0.000 4 0.000 0.080 2627 789 1775

8560 0.96 254.4 433.4 7.8 414 8564 0.00 2.65 0.00 0.000 6 0.000 0.060 2627 2202 1774

8885 0.99 275.0 413.9 5.4 430 8908 0.00 2.83 16.90 0.983 4 0.000 0.077 2627 787 1694

8957 0.99 275.0 409.2 7.2 433 8961 0.00 2.65 0.00 0.000 6 0.000 0.059 2627 2200 1693

9284 0.99 275.0 379.8 9.6 449 9285 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2200 1691

9593 0.99 275.0 349.6 8.8 464 9594 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2200 1691

9902 0.99 275.0 325.1 8.2 479 9907 0.00 2.70 0.00 0.000 4 0.000 0.072 2627 780 1691

9986 0.99 275.0 317.5 9.1 483 9991 0.00 2.62 0.00 0.000 6 0.000 0.052 2627 2204 1690

10311 0.99 275.0 288.9 8.5 499 10313 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2204 1691

10621 0.99 275.0 262.5 8.5 514 10625 0.00 2.70 0.00 0.000 4 0.000 0.071 2627 782 1692

10675 0.99 275.0 257.5 9.3 516 10681 0.00 2.60 0.00 0.000 6 0.000 0.051 2627 2202 1691

10990 0.99 275.0 231.1 8.0 532 10991 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2202 1692

11299 0.99 275.0 206.5 7.8 547 11304 0.00 2.67 0.00 0.000 4 0.000 0.069 2627 781 1693

11345 0.99 275.0 202.8 8.8 549 11349 0.00 2.60 0.00 0.000 6 0.000 0.050 2627 2206 1692

11664 0.99 275.0 176.4 8.4 565 11665 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2206 1694

11973 0.99 275.0 149.7 8.9 580 11978 0.00 2.67 0.00 0.000 4 0.000 0.068 2627 784 1695

12013 0.99 275.0 146.4 9.1 582 12017 0.00 2.58 0.00 0.000 6 0.000 0.048 2627 2202 1695

12339 0.99 275.0 117.7 8.9 598 12340 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2202 1695

12648 0.99 275.0 88.2 10.1 613 12652 0.00 2.65 0.00 0.000 4 0.000 0.067 2627 787 1696

12691 0.99 275.0 83.6 10.9 615 12696 0.00 2.58 0.00 0.000 6 0.000 0.048 2627 2204 1695

13012 0.99 275.0 53.1 9.2 631 13013 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2204 1696

13321 0.99 275.0 25.7 8.7 646 13326 0.00 2.65 0.00 0.000 4 0.000 0.067 2627 787 1697

13361 0.99 275.0 22.3 8.9 648 13365 0.00 2.58 0.00 0.000 6 0.000 0.049 2627 2206 1697

13623 end climb: SURFACE_DEPTH_REACHED

state 13623 begin surface coast

13646 end surface coast: CONTROL_FINISHED_OK

state 13646 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	174	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	11	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	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	-2079276.2	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	212858,6312.776,-847.652,39,6.6,58,-9.7	TGT_NAME	IFRVAL
_CALLS	2	TGT_LATLONG	6312.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.217,0.043
_SM_DEPTHo	1.37	KALMAN_X	-116938.2,-1164.1,-252.1,134211.3,14419.3
_SM_ANGLEo	-54.6	KALMAN_Y	98323.5,540.5,583.0,75931.8,-6729.8
GPS2	213711,6312.932,-847.655,18,2.2,37,-9.7	MHEAD_RNG_PITCHd_Wd	291.0,10452,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.001073	ALTIM_BOTTOM_PING	450.5,99.2
SM_CCo	13666,171.30,0.671,2,0,508,566.15	_24V_AH	23.5,30.146
SM_GC	1.28,0.00,0.00,171.30,0.000,0.000,0.671,73,2404,508,-10.75,0.14,566.15	_10V_AH	10.2,14.455
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34856,662
TT8_MAMPS	0.023777	CFSIZE	260165632,249606144
HUMID	2074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,2,0
TCM_TEMP	16.80	GPS	131207,013022,6315.729,-848.698,39,2.4,58,-9.7
XPDR_PINGS	44

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	176	106.75	SBE_CT	483	24	272.57
Roll_motor	107	83	210.37	SBE_O2	454	19	202.89
VBD_pump_during_apogee	340	1095	8761.55	WL_BB2F	459	105	1133.39
VBD_pump_during_surface	171	671	2701.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	157.89	nil	0	0	0.00
Iridium_during_connect	119	160	450.43	nil	0	0	0.00
Iridium_during_xfer	132	223	695.35
Transponder_ping	14	420	143.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	38	50	19.55
TT8	1214	19	245.28
LPSleep	10499	2	234.55
TT8_Active	697	19	140.91
TT8_Sampling	1480	39	601.03
TT8_CF8	454	45	212.14
TT8_Kalman	33	81	27.84
Analog_circuits	1405	12	172.01
GPS_charging	0	0	0.00
Compass	1430	8	116.70
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	-102.50	0.000	2	0.000	0.000	74	2403	3147
127	-0.85	-146.6	4.0	-2.9	5	153	12.25	2.72	-5.90	0.000	4	0.176	0.084	2222	987	3417
405	-0.85	-146.6	30.6	-8.3	17	410	0.00	2.62	0.00	0.000	6	0.000	0.058	2222	2409	3418
727	-0.85	-146.6	57.1	-8.0	33	728	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2410	3418
1036	-0.85	-146.6	83.5	-8.7	48	1041	0.00	2.70	0.00	0.000	4	0.000	0.068	2222	974	3418
1098	-0.85	-146.6	89.1	-8.9	51	1102	0.00	2.62	0.00	0.000	6	0.000	0.058	2222	2400	3418
1423	-0.85	-146.6	117.5	-8.5	67	1425	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3418
1733	-0.85	-146.6	142.3	-7.9	82	1737	0.00	2.67	0.00	0.000	4	0.000	0.070	2222	978	3418
1810	-0.85	-146.6	148.5	-7.8	85	1817	0.00	2.65	0.00	0.000	6	0.000	0.057	2222	2403	3418
2125	-0.85	-146.6	173.0	-7.8	101	2127	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2403	3418
2435	-0.85	-146.6	199.0	-8.3	116	2439	0.00	2.67	0.00	0.000	4	0.000	0.071	2222	978	3418
2496	-0.85	-146.6	204.0	-8.2	119	2500	0.00	2.60	0.00	0.000	6	0.000	0.056	2222	2400	3418
2821	-0.85	-146.6	229.3	-7.6	135	2825	0.00	2.67	0.00	0.000	4	0.000	0.071	2222	977	3418
2859	-0.85	-146.6	232.2	-7.1	137	2864	0.00	2.62	0.00	0.000	6	0.000	0.058	2222	2406	3418
3185	-0.85	-146.6	256.4	-7.9	153	3189	0.00	2.70	0.00	0.000	4	0.000	0.072	2222	978	3418
3239	-0.85	-146.6	261.2	-8.8	155	3246	0.00	2.62	0.00	0.000	6	0.000	0.058	2222	2397	3417
3556	-0.85	-146.6	285.6	-7.4	171	3557	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2397	3418
3864	-0.85	-146.6	309.7	-8.2	186	3869	0.00	2.67	0.00	0.000	4	0.000	0.073	2222	979	3418
3947	-0.85	-146.6	316.7	-8.2	190	3952	0.00	2.62	0.00	0.000	6	0.000	0.059	2222	2405	3418
4274	-0.85	-146.6	343.2	-7.9	206	4278	0.00	2.70	0.00	0.000	4	0.000	0.074	2222	979	3418
4339	-0.85	-146.6	348.2	-8.2	209	4344	0.00	2.60	0.00	0.000	6	0.000	0.059	2222	2400	3418
4666	-0.85	-146.6	369.7	-6.2	225	4667	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3418
4975	-0.85	-146.6	390.5	-7.4	240	4979	0.00	2.67	0.00	0.000	4	0.000	0.072	2222	978	3418
5040	-0.85	-146.6	396.0	-8.6	243	5045	0.00	2.62	0.00	0.000	6	0.000	0.059	2222	2406	3418
5370	-0.85	-146.6	425.9	-9.2	259	5374	0.00	2.70	0.00	0.000	4	0.000	0.073	2222	979	3418
5480	-0.85	-146.6	435.9	-8.8	264	5484	0.00	2.62	0.00	0.000	6	0.000	0.058	2222	2405	3418
5807	-0.85	-146.6	459.1	-6.9	280	5811	0.00	2.72	0.00	0.000	4	0.000	0.074	2222	972	3418
5883	-0.85	-146.6	464.4	-7.1	283	5890	0.00	2.65	0.00	0.000	6	0.000	0.062	2222	2404	3418
6198	-0.85	-146.6	485.3	-7.1	299	6200	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3418
6508	-0.85	-146.6	506.3	-7.0	314	6512	0.00	2.72	0.00	0.000	4	0.000	0.078	2221	979	3417
6579	-0.85	-146.6	511.6	-7.5	317	6583	0.00	2.65	0.00	0.000	6	0.000	0.064	2222	2402	3417
6900	-0.85	-146.6	536.8	-8.5	333	6901	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2402	3416
6939	end dive: BOTTOM_OBSTACLE_DETECTED
state	6939	begin apogee
6944	-0.31	0.0	539.9	8.2	335	7067	0.60	0.00	119.68	1.091	6	0.120	0.000	2338	2192	2817
7068	end apogee: CONTROL_FINISHED_OK
state	7068	begin climb
7070	0.85	146.6	544.6	0.0	341	7192	1.30	0.00	117.85	1.095	6	0.109	0.000	2590	2192	2219
7491	0.96	254.4	527.9	3.0	362	7580	0.15	0.00	85.97	1.071	6	0.068	0.000	2627	2192	1779
7881	0.96	254.4	494.9	9.6	381	7882	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2192	1777
8190	0.96	254.4	465.4	9.0	396	8191	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2192	1776
8499	0.96	254.4	438.1	7.9	411	8503	0.00	2.70	0.00	0.000	4	0.000	0.080	2627	789	1775
8560	0.96	254.4	433.4	7.8	414	8564	0.00	2.65	0.00	0.000	6	0.000	0.060	2627	2202	1774
8885	0.99	275.0	413.9	5.4	430	8908	0.00	2.83	16.90	0.983	4	0.000	0.077	2627	787	1694
8957	0.99	275.0	409.2	7.2	433	8961	0.00	2.65	0.00	0.000	6	0.000	0.059	2627	2200	1693
9284	0.99	275.0	379.8	9.6	449	9285	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2200	1691
9593	0.99	275.0	349.6	8.8	464	9594	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2200	1691
9902	0.99	275.0	325.1	8.2	479	9907	0.00	2.70	0.00	0.000	4	0.000	0.072	2627	780	1691
9986	0.99	275.0	317.5	9.1	483	9991	0.00	2.62	0.00	0.000	6	0.000	0.052	2627	2204	1690
10311	0.99	275.0	288.9	8.5	499	10313	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2204	1691
10621	0.99	275.0	262.5	8.5	514	10625	0.00	2.70	0.00	0.000	4	0.000	0.071	2627	782	1692
10675	0.99	275.0	257.5	9.3	516	10681	0.00	2.60	0.00	0.000	6	0.000	0.051	2627	2202	1691
10990	0.99	275.0	231.1	8.0	532	10991	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2202	1692
11299	0.99	275.0	206.5	7.8	547	11304	0.00	2.67	0.00	0.000	4	0.000	0.069	2627	781	1693
11345	0.99	275.0	202.8	8.8	549	11349	0.00	2.60	0.00	0.000	6	0.000	0.050	2627	2206	1692
11664	0.99	275.0	176.4	8.4	565	11665	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2206	1694
11973	0.99	275.0	149.7	8.9	580	11978	0.00	2.67	0.00	0.000	4	0.000	0.068	2627	784	1695
12013	0.99	275.0	146.4	9.1	582	12017	0.00	2.58	0.00	0.000	6	0.000	0.048	2627	2202	1695
12339	0.99	275.0	117.7	8.9	598	12340	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2202	1695
12648	0.99	275.0	88.2	10.1	613	12652	0.00	2.65	0.00	0.000	4	0.000	0.067	2627	787	1696
12691	0.99	275.0	83.6	10.9	615	12696	0.00	2.58	0.00	0.000	6	0.000	0.048	2627	2204	1695
13012	0.99	275.0	53.1	9.2	631	13013	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2204	1696
13321	0.99	275.0	25.7	8.7	646	13326	0.00	2.65	0.00	0.000	4	0.000	0.067	2627	787	1697
13361	0.99	275.0	22.3	8.9	648	13365	0.00	2.58	0.00	0.000	6	0.000	0.049	2627	2206	1697
13623	end climb: SURFACE_DEPTH_REACHED
state	13623	begin surface coast
13646	end surface coast: CONTROL_FINISHED_OK
state	13646	begin surface