Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 332 * 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 -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 332 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 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 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 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 -2100559.5 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 0 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 2330 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 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 -2100559.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 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 2330 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 332 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 165708,6453.576,-1042.180,36,1.6,36,-11.4 TGT_NAME NS

_CALLS 1 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.40 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -61.8 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 170156,6453.618,-1042.152,11,1.3,16,-11.4 MHEAD_RNG_PITCHd_Wd 158.4,91927,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.017377 ALTIM_BOTTOM_PING 375.2,55.4

SM_CCo 13125,111.12,0.624,0,0,508,557.32 _24V_AH 23.5,53.747

SM_GC 1.36,0.00,0.00,111.12,0.000,0.000,0.624,71,2243,508,-10.39,0.37,557.32 _10V_AH 10.1,26.552

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31783,633

TT8_MAMPS 0.023777 CAP_FILE_SIZE 90810,0

HUMID 1941 CFSIZE 260165632,240062464

TCM_TEMP 16.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 59 GPS 080808,204408,6452.744,-1040.162,35,1.7,35,-11.4

ALTIM_TOP_PING 18.9,18.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 173 103.67 SBE_CT 470 24 265.21

Roll_motor 91 85 182.42 SBE_O2 430 19 192.07

VBD_pump_during_apogee 429 984 9926.01 WL_BB2F 516 105 1275.32

VBD_pump_during_surface 111 624 1630.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.36 nil 0 0 0.00

Iridium_during_connect 28 160 106.84 nil 0 0 0.00

Iridium_during_xfer 120 223 631.20

Transponder_ping 17 420 175.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.21

TT8 1140 19 228.10

LPSleep 9992 2 221.02

TT8_Active 689 19 137.84

TT8_Sampling 1298 39 521.93

TT8_CF8 411 45 190.20

TT8_Kalman 0 81 0.00

Analog_circuits 1350 12 163.69

GPS_charging 0 0 0.00

Compass 1275 8 103.05

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 127 0.00 0.00 -100.68 0.000 2 0.000 0.000 76 2245 2522

130 -0.85 -146.6 3.0 -1.8 5 176 11.75 0.00 -31.52 0.000 6 0.173 0.000 2141 2245 3380

501 -0.71 -146.6 38.8 -9.6 23 503 0.17 0.00 0.00 0.000 6 0.101 0.000 2174 2245 3380

807 -0.71 -146.6 63.6 -7.8 38 809 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2245 3380

1118 -0.71 -146.6 86.5 -7.3 53 1122 0.00 2.62 0.00 0.000 4 0.000 0.074 2174 3640 3381

1158 -0.71 -146.6 89.6 -7.7 55 1162 0.00 2.62 0.00 0.000 6 0.000 0.055 2174 2218 3381

1485 -0.71 -146.6 113.1 -6.9 71 1486 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2218 3381

1794 -0.71 -146.6 132.3 -5.8 86 1799 0.00 2.70 0.00 0.000 4 0.000 0.074 2174 3640 3381

1844 -0.71 -146.6 135.7 -6.7 88 1848 0.00 2.60 0.00 0.000 6 0.000 0.054 2174 2223 3381

2160 -0.71 -146.6 155.8 -6.3 103 2161 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2222 3381

2469 -0.71 -146.6 177.5 -7.5 118 2473 0.00 2.70 0.00 0.000 4 0.000 0.074 2174 3645 3381

2496 -0.71 -146.6 179.9 -8.4 119 2500 0.00 2.60 0.00 0.000 6 0.000 0.054 2174 2225 3381

2812 -0.71 -146.6 201.6 -6.9 134 2813 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2226 3381

3120 -0.71 -146.6 221.8 -6.6 149 3125 0.00 2.67 0.00 0.000 4 0.000 0.076 2174 3640 3381

3184 -0.75 -146.6 226.0 -6.6 152 3188 0.00 2.60 0.00 0.000 6 0.000 0.055 2174 2225 3381

3511 -0.79 -146.6 245.5 -6.3 168 3512 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2225 3382

3820 -0.85 -146.6 266.3 -6.7 183 3825 0.15 2.70 0.00 0.000 4 0.046 0.077 2123 3639 3381

3865 -0.73 -146.6 270.6 -9.8 185 3870 0.25 2.60 0.00 0.000 6 0.087 0.058 2171 2231 3381

4187 -0.78 -146.6 293.3 -6.7 201 4188 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2231 3381

4497 -0.84 -146.6 314.0 -6.8 216 4499 0.12 0.00 0.00 0.000 6 0.048 0.000 2132 2231 3380

4806 -0.77 -146.6 339.6 -7.9 231 4808 0.15 0.00 0.00 0.000 6 0.088 0.000 2161 2231 3379

5115 -0.77 -146.6 360.0 -6.8 246 5119 0.00 2.72 0.00 0.000 4 0.000 0.082 2161 3644 3378

5148 -0.77 -146.6 362.4 -7.6 247 5154 0.00 2.62 0.00 0.000 6 0.000 0.058 2161 2225 3378

5463 -0.77 -146.6 383.4 -6.6 263 5465 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2225 3377

5773 -0.77 -146.6 404.2 -6.7 278 5777 0.00 2.75 0.00 0.000 4 0.000 0.085 2161 3644 3376

5817 -0.77 -146.6 407.5 -7.4 280 5822 0.00 2.62 0.00 0.000 6 0.000 0.060 2161 2230 3375

6012 end dive: BOTTOM_OBSTACLE_DETECTED

state 6012 begin apogee

6019 -0.31 0.0 420.7 6.6 290 6149 0.50 0.00 127.18 0.984 6 0.094 0.000 2261 2230 2781

6150 end apogee: CONTROL_FINISHED_OK

state 6150 begin climb

6153 0.85 146.6 426.0 0.0 296 6284 1.17 0.00 127.20 0.959 6 0.076 0.000 2508 2230 2183

6592 0.83 193.2 412.7 4.7 318 6640 0.00 2.83 41.08 0.937 4 0.000 0.084 2508 3647 1993

6655 0.83 193.6 409.4 6.0 321 6659 0.00 2.67 0.00 0.000 6 0.000 0.063 2508 2242 1992

6982 0.86 214.6 391.7 5.4 337 7007 0.00 2.78 19.77 0.908 4 0.000 0.073 2508 823 1905

7046 0.86 214.6 387.9 6.2 340 7050 0.00 2.67 0.00 0.000 6 0.000 0.060 2508 2240 1904

7367 0.88 233.6 370.7 5.5 356 7387 0.00 0.00 17.73 0.905 6 0.000 0.000 2508 2240 1828

7697 0.88 233.6 350.9 6.3 372 7701 0.00 2.72 0.00 0.000 4 0.000 0.074 2508 822 1827

7718 0.88 233.6 349.4 6.9 373 7722 0.00 2.67 0.00 0.000 6 0.000 0.061 2507 2247 1827

8039 0.88 233.6 327.9 6.8 389 8043 0.00 2.75 0.00 0.000 4 0.000 0.076 2508 827 1826

8068 0.88 233.6 326.0 6.8 390 8072 0.00 2.65 0.00 0.000 6 0.000 0.061 2508 2242 1825

8384 0.92 233.6 304.0 7.0 405 8389 0.10 2.75 0.00 0.000 4 0.084 0.076 2528 824 1825

8417 0.92 233.6 301.3 8.0 406 8423 0.00 2.65 0.00 0.000 6 0.000 0.061 2528 2240 1825

8734 0.92 233.6 276.2 8.3 422 8736 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2240 1825

9041 0.92 233.6 250.1 7.8 437 9043 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2240 1824

9351 0.93 238.8 229.5 5.9 452 9358 0.00 0.00 5.53 0.693 6 0.000 0.000 2528 2240 1807

9661 0.93 245.5 212.3 5.8 467 9675 0.00 2.78 6.97 0.728 4 0.000 0.081 2528 3648 1781

9727 0.93 245.5 207.8 7.7 470 9732 0.00 2.65 0.00 0.000 6 0.000 0.068 2528 2239 1780

10054 0.96 265.2 187.6 5.5 486 10078 0.00 2.80 18.40 0.802 4 0.000 0.084 2528 3644 1699

10092 1.01 271.8 185.4 5.8 487 10106 0.10 2.67 6.90 0.694 6 0.079 0.065 2551 2240 1673

10428 1.01 271.8 164.3 6.5 504 10432 0.00 2.67 0.00 0.000 4 0.000 0.072 2552 827 1673

10461 1.01 271.8 162.0 6.4 505 10467 0.00 2.62 0.00 0.000 6 0.000 0.060 2552 2239 1672

10778 1.01 271.8 141.4 6.5 521 10782 0.00 2.70 0.00 0.000 4 0.000 0.080 2552 3652 1673

10844 1.01 271.8 136.5 7.6 524 10848 0.00 2.65 0.00 0.000 6 0.000 0.064 2552 2239 1673

11166 1.01 271.8 115.6 6.6 540 11167 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2239 1673

11474 1.01 271.8 95.8 6.1 555 11475 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2239 1674

11783 1.01 271.8 76.9 6.1 570 11785 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2239 1674

12094 1.02 281.2 58.4 5.7 585 12106 0.00 0.00 10.05 0.637 6 0.000 0.000 2551 2239 1634

12403 1.04 294.3 41.5 5.6 600 12425 0.00 2.72 12.27 0.636 4 0.000 0.064 2552 826 1579

12459 1.06 317.8 38.3 5.4 602 12485 0.00 2.60 20.27 0.655 6 0.000 0.051 2551 2243 1485

12798 1.08 335.9 20.1 5.5 618 12820 0.00 0.00 15.88 0.627 6 0.000 0.000 2552 2243 1411

13081 end climb: SURFACE_DEPTH_REACHED

state 13081 begin surface coast

13103 end surface coast: CONTROL_FINISHED_OK

state 13103 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	332	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	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	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	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	-2100559.5	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	0	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	2330	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	165708,6453.576,-1042.180,36,1.6,36,-11.4	TGT_NAME	NS
_CALLS	1	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.40	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-61.8	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	170156,6453.618,-1042.152,11,1.3,16,-11.4	MHEAD_RNG_PITCHd_Wd	158.4,91927,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.017377	ALTIM_BOTTOM_PING	375.2,55.4
SM_CCo	13125,111.12,0.624,0,0,508,557.32	_24V_AH	23.5,53.747
SM_GC	1.36,0.00,0.00,111.12,0.000,0.000,0.624,71,2243,508,-10.39,0.37,557.32	_10V_AH	10.1,26.552
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31783,633
TT8_MAMPS	0.023777	CAP_FILE_SIZE	90810,0
HUMID	1941	CFSIZE	260165632,240062464
TCM_TEMP	16.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	59	GPS	080808,204408,6452.744,-1040.162,35,1.7,35,-11.4
ALTIM_TOP_PING	18.9,18.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	173	103.67	SBE_CT	470	24	265.21
Roll_motor	91	85	182.42	SBE_O2	430	19	192.07
VBD_pump_during_apogee	429	984	9926.01	WL_BB2F	516	105	1275.32
VBD_pump_during_surface	111	624	1630.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.36	nil	0	0	0.00
Iridium_during_connect	28	160	106.84	nil	0	0	0.00
Iridium_during_xfer	120	223	631.20
Transponder_ping	17	420	175.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.21
TT8	1140	19	228.10
LPSleep	9992	2	221.02
TT8_Active	689	19	137.84
TT8_Sampling	1298	39	521.93
TT8_CF8	411	45	190.20
TT8_Kalman	0	81	0.00
Analog_circuits	1350	12	163.69
GPS_charging	0	0	0.00
Compass	1275	8	103.05
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	127	0.00	0.00	-100.68	0.000	2	0.000	0.000	76	2245	2522
130	-0.85	-146.6	3.0	-1.8	5	176	11.75	0.00	-31.52	0.000	6	0.173	0.000	2141	2245	3380
501	-0.71	-146.6	38.8	-9.6	23	503	0.17	0.00	0.00	0.000	6	0.101	0.000	2174	2245	3380
807	-0.71	-146.6	63.6	-7.8	38	809	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2245	3380
1118	-0.71	-146.6	86.5	-7.3	53	1122	0.00	2.62	0.00	0.000	4	0.000	0.074	2174	3640	3381
1158	-0.71	-146.6	89.6	-7.7	55	1162	0.00	2.62	0.00	0.000	6	0.000	0.055	2174	2218	3381
1485	-0.71	-146.6	113.1	-6.9	71	1486	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2218	3381
1794	-0.71	-146.6	132.3	-5.8	86	1799	0.00	2.70	0.00	0.000	4	0.000	0.074	2174	3640	3381
1844	-0.71	-146.6	135.7	-6.7	88	1848	0.00	2.60	0.00	0.000	6	0.000	0.054	2174	2223	3381
2160	-0.71	-146.6	155.8	-6.3	103	2161	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2222	3381
2469	-0.71	-146.6	177.5	-7.5	118	2473	0.00	2.70	0.00	0.000	4	0.000	0.074	2174	3645	3381
2496	-0.71	-146.6	179.9	-8.4	119	2500	0.00	2.60	0.00	0.000	6	0.000	0.054	2174	2225	3381
2812	-0.71	-146.6	201.6	-6.9	134	2813	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2226	3381
3120	-0.71	-146.6	221.8	-6.6	149	3125	0.00	2.67	0.00	0.000	4	0.000	0.076	2174	3640	3381
3184	-0.75	-146.6	226.0	-6.6	152	3188	0.00	2.60	0.00	0.000	6	0.000	0.055	2174	2225	3381
3511	-0.79	-146.6	245.5	-6.3	168	3512	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2225	3382
3820	-0.85	-146.6	266.3	-6.7	183	3825	0.15	2.70	0.00	0.000	4	0.046	0.077	2123	3639	3381
3865	-0.73	-146.6	270.6	-9.8	185	3870	0.25	2.60	0.00	0.000	6	0.087	0.058	2171	2231	3381
4187	-0.78	-146.6	293.3	-6.7	201	4188	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2231	3381
4497	-0.84	-146.6	314.0	-6.8	216	4499	0.12	0.00	0.00	0.000	6	0.048	0.000	2132	2231	3380
4806	-0.77	-146.6	339.6	-7.9	231	4808	0.15	0.00	0.00	0.000	6	0.088	0.000	2161	2231	3379
5115	-0.77	-146.6	360.0	-6.8	246	5119	0.00	2.72	0.00	0.000	4	0.000	0.082	2161	3644	3378
5148	-0.77	-146.6	362.4	-7.6	247	5154	0.00	2.62	0.00	0.000	6	0.000	0.058	2161	2225	3378
5463	-0.77	-146.6	383.4	-6.6	263	5465	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2225	3377
5773	-0.77	-146.6	404.2	-6.7	278	5777	0.00	2.75	0.00	0.000	4	0.000	0.085	2161	3644	3376
5817	-0.77	-146.6	407.5	-7.4	280	5822	0.00	2.62	0.00	0.000	6	0.000	0.060	2161	2230	3375
6012	end dive: BOTTOM_OBSTACLE_DETECTED
state	6012	begin apogee
6019	-0.31	0.0	420.7	6.6	290	6149	0.50	0.00	127.18	0.984	6	0.094	0.000	2261	2230	2781
6150	end apogee: CONTROL_FINISHED_OK
state	6150	begin climb
6153	0.85	146.6	426.0	0.0	296	6284	1.17	0.00	127.20	0.959	6	0.076	0.000	2508	2230	2183
6592	0.83	193.2	412.7	4.7	318	6640	0.00	2.83	41.08	0.937	4	0.000	0.084	2508	3647	1993
6655	0.83	193.6	409.4	6.0	321	6659	0.00	2.67	0.00	0.000	6	0.000	0.063	2508	2242	1992
6982	0.86	214.6	391.7	5.4	337	7007	0.00	2.78	19.77	0.908	4	0.000	0.073	2508	823	1905
7046	0.86	214.6	387.9	6.2	340	7050	0.00	2.67	0.00	0.000	6	0.000	0.060	2508	2240	1904
7367	0.88	233.6	370.7	5.5	356	7387	0.00	0.00	17.73	0.905	6	0.000	0.000	2508	2240	1828
7697	0.88	233.6	350.9	6.3	372	7701	0.00	2.72	0.00	0.000	4	0.000	0.074	2508	822	1827
7718	0.88	233.6	349.4	6.9	373	7722	0.00	2.67	0.00	0.000	6	0.000	0.061	2507	2247	1827
8039	0.88	233.6	327.9	6.8	389	8043	0.00	2.75	0.00	0.000	4	0.000	0.076	2508	827	1826
8068	0.88	233.6	326.0	6.8	390	8072	0.00	2.65	0.00	0.000	6	0.000	0.061	2508	2242	1825
8384	0.92	233.6	304.0	7.0	405	8389	0.10	2.75	0.00	0.000	4	0.084	0.076	2528	824	1825
8417	0.92	233.6	301.3	8.0	406	8423	0.00	2.65	0.00	0.000	6	0.000	0.061	2528	2240	1825
8734	0.92	233.6	276.2	8.3	422	8736	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2240	1825
9041	0.92	233.6	250.1	7.8	437	9043	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2240	1824
9351	0.93	238.8	229.5	5.9	452	9358	0.00	0.00	5.53	0.693	6	0.000	0.000	2528	2240	1807
9661	0.93	245.5	212.3	5.8	467	9675	0.00	2.78	6.97	0.728	4	0.000	0.081	2528	3648	1781
9727	0.93	245.5	207.8	7.7	470	9732	0.00	2.65	0.00	0.000	6	0.000	0.068	2528	2239	1780
10054	0.96	265.2	187.6	5.5	486	10078	0.00	2.80	18.40	0.802	4	0.000	0.084	2528	3644	1699
10092	1.01	271.8	185.4	5.8	487	10106	0.10	2.67	6.90	0.694	6	0.079	0.065	2551	2240	1673
10428	1.01	271.8	164.3	6.5	504	10432	0.00	2.67	0.00	0.000	4	0.000	0.072	2552	827	1673
10461	1.01	271.8	162.0	6.4	505	10467	0.00	2.62	0.00	0.000	6	0.000	0.060	2552	2239	1672
10778	1.01	271.8	141.4	6.5	521	10782	0.00	2.70	0.00	0.000	4	0.000	0.080	2552	3652	1673
10844	1.01	271.8	136.5	7.6	524	10848	0.00	2.65	0.00	0.000	6	0.000	0.064	2552	2239	1673
11166	1.01	271.8	115.6	6.6	540	11167	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2239	1673
11474	1.01	271.8	95.8	6.1	555	11475	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2239	1674
11783	1.01	271.8	76.9	6.1	570	11785	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2239	1674
12094	1.02	281.2	58.4	5.7	585	12106	0.00	0.00	10.05	0.637	6	0.000	0.000	2551	2239	1634
12403	1.04	294.3	41.5	5.6	600	12425	0.00	2.72	12.27	0.636	4	0.000	0.064	2552	826	1579
12459	1.06	317.8	38.3	5.4	602	12485	0.00	2.60	20.27	0.655	6	0.000	0.051	2551	2243	1485
12798	1.08	335.9	20.1	5.5	618	12820	0.00	0.00	15.88	0.627	6	0.000	0.000	2552	2243	1411
13081	end climb: SURFACE_DEPTH_REACHED
state	13081	begin surface coast
13103	end surface coast: CONTROL_FINISHED_OK
state	13103	begin surface