Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 337 * 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 337 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -2100653.2 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 -2100653.2

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 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 337 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 105308,6450.536,-1037.586,41,1.6,41,-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 1.29 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -56.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 105802,6450.602,-1037.672,13,1.8,13,-11.4 MHEAD_RNG_PITCHd_Wd 158.4,85276,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.026947 ALTIM_BOTTOM_PING 375.9,56.7

SM_CCo 11975,143.90,0.635,1,0,509,557.32 _24V_AH 23.5,54.442

SM_GC 1.25,0.00,0.00,143.90,0.000,0.000,0.635,71,2232,509,-10.39,0.08,557.32 _10V_AH 10.1,26.867

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28533,573

TT8_MAMPS 0.02301 CAP_FILE_SIZE 93252,0

HUMID 1896 CFSIZE 260165632,239833088

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 48 GPS 090808,142155,6451.349,-1037.403,33,1.8,50,-11.4

ALTIM_TOP_PING 19.9,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 169 99.29 SBE_CT 424 24 239.57

Roll_motor 126 82 245.33 SBE_O2 390 19 174.22

VBD_pump_during_apogee 368 970 8401.03 WL_BB2F 473 105 1168.07

VBD_pump_during_surface 143 635 2147.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.55 nil 0 0 0.00

Iridium_during_connect 41 160 154.86 nil 0 0 0.00

Iridium_during_xfer 118 223 620.21

Transponder_ping 15 420 148.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.04

TT8 1087 19 217.43

LPSleep 8938 2 197.71

TT8_Active 676 19 135.24

TT8_Sampling 1305 39 524.65

TT8_CF8 417 45 192.92

TT8_Kalman 0 81 0.00

Analog_circuits 1361 12 165.05

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

24 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.60 0.000 2 0.000 0.000 70 2243 2851

150 -0.85 -146.6 3.2 -2.3 6 184 11.68 2.62 -13.85 0.000 4 0.170 0.067 2141 816 3380

275 -0.85 -146.6 18.2 -9.3 11 281 0.00 2.55 0.00 0.000 6 0.000 0.045 2141 2229 3380

592 -0.75 -146.6 45.9 -8.8 27 597 0.12 2.60 0.00 0.000 4 0.099 0.064 2165 3639 3380

642 -0.75 -146.6 49.8 -7.3 29 647 0.00 2.55 0.00 0.000 6 0.000 0.046 2165 2227 3381

960 -0.75 -146.6 72.6 -7.9 44 964 0.00 2.60 0.00 0.000 4 0.000 0.056 2165 812 3381

993 -0.75 -146.6 75.6 -7.5 45 1000 0.00 2.58 0.00 0.000 6 0.000 0.045 2165 2234 3381

1309 -0.75 -146.6 99.8 -7.4 61 1314 0.00 2.60 0.00 0.000 4 0.000 0.066 2166 3637 3382

1349 -0.75 -146.6 102.9 -7.6 63 1354 0.00 2.53 0.00 0.000 6 0.000 0.047 2167 2231 3381

1677 -0.75 -146.6 128.1 -8.3 79 1681 0.00 2.60 0.00 0.000 4 0.000 0.057 2165 813 3381

1704 -0.75 -146.6 130.5 -8.5 80 1708 0.00 2.58 0.00 0.000 6 0.000 0.047 2165 2232 3381

2020 -0.75 -146.6 159.3 -9.3 95 2024 0.00 2.60 0.00 0.000 4 0.000 0.067 2165 3636 3382

2064 -0.75 -146.6 163.6 -9.2 97 2069 0.00 2.55 0.00 0.000 6 0.000 0.047 2165 2225 3382

2385 -0.75 -146.6 188.1 -6.7 113 2389 0.00 2.60 0.00 0.000 4 0.000 0.058 2165 813 3382

2435 -0.82 -146.6 191.5 -6.5 115 2439 0.00 2.58 0.00 0.000 6 0.000 0.047 2165 2229 3382

2751 -0.82 -146.6 207.5 -4.3 130 2755 0.00 2.62 0.00 0.000 4 0.000 0.071 2166 3641 3382

2807 -0.82 -146.6 210.7 -5.6 132 2813 0.00 2.58 0.00 0.000 6 0.000 0.049 2166 2224 3382

3123 -0.82 -146.6 231.8 -7.2 148 3127 0.00 2.65 0.00 0.000 4 0.000 0.071 2165 3638 3382

3162 -0.82 -146.6 234.7 -7.4 150 3166 0.00 2.55 0.00 0.000 6 0.000 0.050 2166 2230 3382

3489 -0.82 -146.6 256.0 -6.6 166 3493 0.00 2.62 0.00 0.000 4 0.000 0.062 2166 818 3382

3545 -0.87 -146.6 260.0 -7.3 168 3551 0.12 2.60 0.00 0.000 6 0.050 0.051 2126 2235 3382

3861 -0.76 -146.6 289.9 -10.0 184 3866 0.15 2.65 0.00 0.000 4 0.092 0.074 2159 3638 3382

3883 -0.72 -146.6 292.2 -10.0 185 3888 0.00 2.58 0.00 0.000 6 0.000 0.053 2159 2231 3382

4205 -0.72 -146.6 322.2 -9.7 201 4209 0.00 2.65 0.00 0.000 4 0.000 0.065 2159 817 3381

4267 -0.78 -146.6 328.9 -11.3 204 4272 0.00 2.62 0.00 0.000 6 0.000 0.054 2159 2235 3381

4594 -0.78 -146.6 361.0 -9.2 220 4599 0.00 2.67 0.00 0.000 4 0.000 0.078 2159 3640 3381

4644 -0.78 -146.6 365.5 -8.7 222 4649 0.00 2.60 0.00 0.000 6 0.000 0.056 2159 2230 3380

4960 -0.78 -146.6 389.0 -7.0 237 4961 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2230 3379

5270 -0.78 -146.6 410.8 -7.0 252 5271 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2230 3378

5431 end dive: BOTTOM_OBSTACLE_DETECTED

state 5432 begin apogee

5438 -0.31 0.0 423.8 7.6 260 5568 0.50 0.00 127.28 0.970 6 0.100 0.000 2258 2229 2781

5569 end apogee: CONTROL_FINISHED_OK

state 5569 begin climb

5572 0.85 146.6 427.6 0.0 266 5708 1.20 2.78 125.78 0.950 4 0.081 0.070 2508 827 2183

5762 0.88 178.9 424.5 5.1 275 5797 0.00 2.65 29.10 0.906 6 0.000 0.057 2507 2242 2051

6114 0.88 178.9 403.6 6.8 292 6118 0.00 2.72 0.00 0.000 4 0.000 0.082 2507 3651 2050

6159 0.88 178.9 400.6 7.3 294 6163 0.00 2.65 0.00 0.000 6 0.000 0.061 2507 2240 2050

6479 0.88 178.9 379.4 7.1 310 6480 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2240 2047

6788 0.88 178.9 353.6 8.8 325 6793 0.00 2.72 0.00 0.000 4 0.000 0.083 2507 3647 2047

6816 0.88 178.9 351.1 9.4 326 6820 0.00 2.62 0.00 0.000 6 0.000 0.061 2507 2241 2047

7133 0.88 178.9 322.7 9.0 341 7134 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2241 2046

7443 0.88 178.9 296.5 7.8 356 7444 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2241 2045

7752 0.90 195.1 276.8 5.6 371 7773 0.00 2.75 13.85 0.851 4 0.000 0.074 2507 827 1984

7797 0.90 197.9 274.1 5.9 373 7806 0.00 2.65 4.07 0.617 6 0.000 0.057 2507 2239 1974

8129 0.93 224.8 256.4 5.3 389 8159 0.12 2.75 24.25 0.866 4 0.077 0.070 2533 827 1863

8199 0.87 224.8 251.7 7.4 392 8204 0.00 2.62 0.00 0.000 6 0.000 0.057 2534 2240 1863

8515 0.82 224.8 228.9 7.7 407 8520 0.12 2.70 0.00 0.000 4 0.109 0.078 2511 3648 1863

8560 0.82 224.8 225.2 8.3 409 8564 0.00 2.62 0.00 0.000 6 0.000 0.060 2511 2237 1863

8881 0.82 224.8 202.4 6.8 425 8885 0.00 2.65 0.00 0.000 4 0.000 0.070 2511 827 1862

8930 0.82 224.8 199.2 6.7 427 8935 0.00 2.62 0.00 0.000 6 0.000 0.054 2510 2246 1862

9246 0.82 224.8 180.4 6.3 442 9250 0.00 2.65 0.00 0.000 4 0.000 0.075 2511 3648 1862

9273 0.82 224.8 178.5 7.1 443 9278 0.00 2.60 0.00 0.000 6 0.000 0.057 2510 2240 1862

9589 0.82 224.8 156.7 7.5 458 9593 0.00 2.65 0.00 0.000 4 0.000 0.067 2511 826 1862

9651 0.82 224.8 152.1 7.5 461 9656 0.00 2.62 0.00 0.000 6 0.000 0.052 2511 2249 1861

9979 0.82 224.8 127.5 7.6 477 9984 0.00 2.67 0.00 0.000 4 0.000 0.064 2511 829 1861

10042 0.82 224.8 122.8 7.2 480 10046 0.00 2.58 0.00 0.000 6 0.000 0.051 2510 2241 1861

10370 0.82 228.2 102.0 5.9 496 10376 0.00 0.00 4.32 0.555 6 0.000 0.000 2511 2240 1850

10680 0.84 245.0 84.9 5.5 511 10698 0.00 0.00 15.57 0.708 6 0.000 0.000 2510 2240 1781

11010 0.91 273.2 67.2 5.2 527 11036 0.00 0.00 24.23 0.703 6 0.000 0.000 2510 2240 1667

11339 0.97 273.2 48.0 6.1 543 11341 0.15 0.00 0.00 0.000 6 0.051 0.000 2545 2240 1667

11646 0.97 273.2 22.8 8.0 558 11650 0.00 2.62 0.00 0.000 4 0.000 0.066 2545 3652 1668

11679 0.97 273.2 19.9 8.4 559 11686 0.00 2.58 0.00 0.000 6 0.000 0.049 2545 2236 1668

11932 end climb: SURFACE_DEPTH_REACHED

state 11932 begin surface coast

11953 end surface coast: CONTROL_FINISHED_OK

state 11953 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	337	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-2100653.2	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	105308,6450.536,-1037.586,41,1.6,41,-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	1.29	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-56.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	105802,6450.602,-1037.672,13,1.8,13,-11.4	MHEAD_RNG_PITCHd_Wd	158.4,85276,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.026947	ALTIM_BOTTOM_PING	375.9,56.7
SM_CCo	11975,143.90,0.635,1,0,509,557.32	_24V_AH	23.5,54.442
SM_GC	1.25,0.00,0.00,143.90,0.000,0.000,0.635,71,2232,509,-10.39,0.08,557.32	_10V_AH	10.1,26.867
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28533,573
TT8_MAMPS	0.02301	CAP_FILE_SIZE	93252,0
HUMID	1896	CFSIZE	260165632,239833088
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	48	GPS	090808,142155,6451.349,-1037.403,33,1.8,50,-11.4
ALTIM_TOP_PING	19.9,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	169	99.29	SBE_CT	424	24	239.57
Roll_motor	126	82	245.33	SBE_O2	390	19	174.22
VBD_pump_during_apogee	368	970	8401.03	WL_BB2F	473	105	1168.07
VBD_pump_during_surface	143	635	2147.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.55	nil	0	0	0.00
Iridium_during_connect	41	160	154.86	nil	0	0	0.00
Iridium_during_xfer	118	223	620.21
Transponder_ping	15	420	148.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.04
TT8	1087	19	217.43
LPSleep	8938	2	197.71
TT8_Active	676	19	135.24
TT8_Sampling	1305	39	524.65
TT8_CF8	417	45	192.92
TT8_Kalman	0	81	0.00
Analog_circuits	1361	12	165.05
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
24	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.60	0.000	2	0.000	0.000	70	2243	2851
150	-0.85	-146.6	3.2	-2.3	6	184	11.68	2.62	-13.85	0.000	4	0.170	0.067	2141	816	3380
275	-0.85	-146.6	18.2	-9.3	11	281	0.00	2.55	0.00	0.000	6	0.000	0.045	2141	2229	3380
592	-0.75	-146.6	45.9	-8.8	27	597	0.12	2.60	0.00	0.000	4	0.099	0.064	2165	3639	3380
642	-0.75	-146.6	49.8	-7.3	29	647	0.00	2.55	0.00	0.000	6	0.000	0.046	2165	2227	3381
960	-0.75	-146.6	72.6	-7.9	44	964	0.00	2.60	0.00	0.000	4	0.000	0.056	2165	812	3381
993	-0.75	-146.6	75.6	-7.5	45	1000	0.00	2.58	0.00	0.000	6	0.000	0.045	2165	2234	3381
1309	-0.75	-146.6	99.8	-7.4	61	1314	0.00	2.60	0.00	0.000	4	0.000	0.066	2166	3637	3382
1349	-0.75	-146.6	102.9	-7.6	63	1354	0.00	2.53	0.00	0.000	6	0.000	0.047	2167	2231	3381
1677	-0.75	-146.6	128.1	-8.3	79	1681	0.00	2.60	0.00	0.000	4	0.000	0.057	2165	813	3381
1704	-0.75	-146.6	130.5	-8.5	80	1708	0.00	2.58	0.00	0.000	6	0.000	0.047	2165	2232	3381
2020	-0.75	-146.6	159.3	-9.3	95	2024	0.00	2.60	0.00	0.000	4	0.000	0.067	2165	3636	3382
2064	-0.75	-146.6	163.6	-9.2	97	2069	0.00	2.55	0.00	0.000	6	0.000	0.047	2165	2225	3382
2385	-0.75	-146.6	188.1	-6.7	113	2389	0.00	2.60	0.00	0.000	4	0.000	0.058	2165	813	3382
2435	-0.82	-146.6	191.5	-6.5	115	2439	0.00	2.58	0.00	0.000	6	0.000	0.047	2165	2229	3382
2751	-0.82	-146.6	207.5	-4.3	130	2755	0.00	2.62	0.00	0.000	4	0.000	0.071	2166	3641	3382
2807	-0.82	-146.6	210.7	-5.6	132	2813	0.00	2.58	0.00	0.000	6	0.000	0.049	2166	2224	3382
3123	-0.82	-146.6	231.8	-7.2	148	3127	0.00	2.65	0.00	0.000	4	0.000	0.071	2165	3638	3382
3162	-0.82	-146.6	234.7	-7.4	150	3166	0.00	2.55	0.00	0.000	6	0.000	0.050	2166	2230	3382
3489	-0.82	-146.6	256.0	-6.6	166	3493	0.00	2.62	0.00	0.000	4	0.000	0.062	2166	818	3382
3545	-0.87	-146.6	260.0	-7.3	168	3551	0.12	2.60	0.00	0.000	6	0.050	0.051	2126	2235	3382
3861	-0.76	-146.6	289.9	-10.0	184	3866	0.15	2.65	0.00	0.000	4	0.092	0.074	2159	3638	3382
3883	-0.72	-146.6	292.2	-10.0	185	3888	0.00	2.58	0.00	0.000	6	0.000	0.053	2159	2231	3382
4205	-0.72	-146.6	322.2	-9.7	201	4209	0.00	2.65	0.00	0.000	4	0.000	0.065	2159	817	3381
4267	-0.78	-146.6	328.9	-11.3	204	4272	0.00	2.62	0.00	0.000	6	0.000	0.054	2159	2235	3381
4594	-0.78	-146.6	361.0	-9.2	220	4599	0.00	2.67	0.00	0.000	4	0.000	0.078	2159	3640	3381
4644	-0.78	-146.6	365.5	-8.7	222	4649	0.00	2.60	0.00	0.000	6	0.000	0.056	2159	2230	3380
4960	-0.78	-146.6	389.0	-7.0	237	4961	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2230	3379
5270	-0.78	-146.6	410.8	-7.0	252	5271	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2230	3378
5431	end dive: BOTTOM_OBSTACLE_DETECTED
state	5432	begin apogee
5438	-0.31	0.0	423.8	7.6	260	5568	0.50	0.00	127.28	0.970	6	0.100	0.000	2258	2229	2781
5569	end apogee: CONTROL_FINISHED_OK
state	5569	begin climb
5572	0.85	146.6	427.6	0.0	266	5708	1.20	2.78	125.78	0.950	4	0.081	0.070	2508	827	2183
5762	0.88	178.9	424.5	5.1	275	5797	0.00	2.65	29.10	0.906	6	0.000	0.057	2507	2242	2051
6114	0.88	178.9	403.6	6.8	292	6118	0.00	2.72	0.00	0.000	4	0.000	0.082	2507	3651	2050
6159	0.88	178.9	400.6	7.3	294	6163	0.00	2.65	0.00	0.000	6	0.000	0.061	2507	2240	2050
6479	0.88	178.9	379.4	7.1	310	6480	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2240	2047
6788	0.88	178.9	353.6	8.8	325	6793	0.00	2.72	0.00	0.000	4	0.000	0.083	2507	3647	2047
6816	0.88	178.9	351.1	9.4	326	6820	0.00	2.62	0.00	0.000	6	0.000	0.061	2507	2241	2047
7133	0.88	178.9	322.7	9.0	341	7134	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2241	2046
7443	0.88	178.9	296.5	7.8	356	7444	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2241	2045
7752	0.90	195.1	276.8	5.6	371	7773	0.00	2.75	13.85	0.851	4	0.000	0.074	2507	827	1984
7797	0.90	197.9	274.1	5.9	373	7806	0.00	2.65	4.07	0.617	6	0.000	0.057	2507	2239	1974
8129	0.93	224.8	256.4	5.3	389	8159	0.12	2.75	24.25	0.866	4	0.077	0.070	2533	827	1863
8199	0.87	224.8	251.7	7.4	392	8204	0.00	2.62	0.00	0.000	6	0.000	0.057	2534	2240	1863
8515	0.82	224.8	228.9	7.7	407	8520	0.12	2.70	0.00	0.000	4	0.109	0.078	2511	3648	1863
8560	0.82	224.8	225.2	8.3	409	8564	0.00	2.62	0.00	0.000	6	0.000	0.060	2511	2237	1863
8881	0.82	224.8	202.4	6.8	425	8885	0.00	2.65	0.00	0.000	4	0.000	0.070	2511	827	1862
8930	0.82	224.8	199.2	6.7	427	8935	0.00	2.62	0.00	0.000	6	0.000	0.054	2510	2246	1862
9246	0.82	224.8	180.4	6.3	442	9250	0.00	2.65	0.00	0.000	4	0.000	0.075	2511	3648	1862
9273	0.82	224.8	178.5	7.1	443	9278	0.00	2.60	0.00	0.000	6	0.000	0.057	2510	2240	1862
9589	0.82	224.8	156.7	7.5	458	9593	0.00	2.65	0.00	0.000	4	0.000	0.067	2511	826	1862
9651	0.82	224.8	152.1	7.5	461	9656	0.00	2.62	0.00	0.000	6	0.000	0.052	2511	2249	1861
9979	0.82	224.8	127.5	7.6	477	9984	0.00	2.67	0.00	0.000	4	0.000	0.064	2511	829	1861
10042	0.82	224.8	122.8	7.2	480	10046	0.00	2.58	0.00	0.000	6	0.000	0.051	2510	2241	1861
10370	0.82	228.2	102.0	5.9	496	10376	0.00	0.00	4.32	0.555	6	0.000	0.000	2511	2240	1850
10680	0.84	245.0	84.9	5.5	511	10698	0.00	0.00	15.57	0.708	6	0.000	0.000	2510	2240	1781
11010	0.91	273.2	67.2	5.2	527	11036	0.00	0.00	24.23	0.703	6	0.000	0.000	2510	2240	1667
11339	0.97	273.2	48.0	6.1	543	11341	0.15	0.00	0.00	0.000	6	0.051	0.000	2545	2240	1667
11646	0.97	273.2	22.8	8.0	558	11650	0.00	2.62	0.00	0.000	4	0.000	0.066	2545	3652	1668
11679	0.97	273.2	19.9	8.4	559	11686	0.00	2.58	0.00	0.000	6	0.000	0.049	2545	2236	1668
11932	end climb: SURFACE_DEPTH_REACHED
state	11932	begin surface coast
11953	end surface coast: CONTROL_FINISHED_OK
state	11953	begin surface