Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 340 * 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 340 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 -2100738 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 -2100738

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 340 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 212408,6451.190,-1036.508,38,2.0,38,-11.4 TGT_NAME NS

_CALLS 3 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.24 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -55.2 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 213535,6451.379,-1036.598,12,3.6,31,-11.4 MHEAD_RNG_PITCHd_Wd 159.4,86024,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.013183 ALTIM_BOTTOM_PING 401.2,30.4

SM_CCo 11764,24.30,0.609,1,0,509,557.32 _24V_AH 23.5,54.900

SM_GC 1.09,0.00,0.00,24.30,0.000,0.000,0.609,71,2241,509,-10.39,0.31,557.32 _10V_AH 10.1,27.057

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28468,560

TT8_MAMPS 0.023777 CAP_FILE_SIZE 102428,0

HUMID 1981 CFSIZE 260165632,239685632

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 47 GPS 100808,005338,6451.508,-1036.231,31,1.6,31,-11.4

ALTIM_TOP_PING 18.7,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 104.07 SBE_CT 415 24 234.11

Roll_motor 132 82 257.54 SBE_O2 378 19 169.22

VBD_pump_during_apogee 575 977 13223.98 WL_BB2F 416 105 1028.69

VBD_pump_during_surface 24 608 347.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 132.30 nil 0 0 0.00

Iridium_during_connect 90 160 341.54 nil 0 0 0.00

Iridium_during_xfer 248 223 1299.64

Transponder_ping 15 420 148.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.39

TT8 1072 19 214.56

LPSleep 8621 2 190.69

TT8_Active 712 19 142.57

TT8_Sampling 1399 39 562.74

TT8_CF8 678 45 313.84

TT8_Kalman 0 81 0.00

Analog_circuits 1472 12 178.45

GPS_charging 0 0 0.00

Compass 1345 8 108.70

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -120.95 0.000 2 0.000 0.000 69 2235 2881

151 -0.85 -146.6 3.8 -3.2 6 181 11.70 2.65 -12.27 0.000 4 0.172 0.068 2139 817 3380

287 -0.77 -146.6 19.9 -8.7 12 292 0.12 2.58 0.00 0.000 6 0.101 0.048 2162 2229 3381

614 -0.71 -146.6 47.0 -8.9 28 619 0.00 2.62 0.00 0.000 4 0.000 0.067 2162 3636 3382

648 -0.66 -146.6 50.4 -9.5 29 655 0.12 2.58 0.00 0.000 6 0.095 0.050 2187 2220 3382

966 -0.66 -146.6 79.2 -9.7 45 970 0.00 2.60 0.00 0.000 4 0.000 0.058 2187 813 3382

994 -0.73 -146.6 82.3 -10.6 46 998 0.00 2.60 0.00 0.000 6 0.000 0.048 2187 2235 3382

1310 -0.77 -146.6 111.6 -8.3 61 1315 0.12 2.62 0.00 0.000 4 0.045 0.067 2145 3638 3382

1374 -0.68 -146.6 117.5 -9.4 64 1379 0.17 2.55 0.00 0.000 6 0.087 0.049 2180 2230 3383

1702 -0.68 -146.6 135.2 -4.1 80 1706 0.00 2.60 0.00 0.000 4 0.000 0.057 2180 811 3382

1731 -0.74 -146.6 136.5 -4.6 81 1735 0.00 2.58 0.00 0.000 6 0.000 0.047 2180 2229 3382

2048 -0.74 -146.6 149.6 -5.2 96 2053 0.00 2.62 0.00 0.000 4 0.000 0.066 2180 3641 3382

2081 -0.74 -146.6 151.9 -6.5 97 2085 0.00 2.55 0.00 0.000 6 0.000 0.046 2180 2229 3382

2398 -0.74 -146.6 169.4 -5.5 112 2399 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2229 3382

2706 -0.79 -146.6 189.8 -6.6 127 2707 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2228 3382

3015 -0.84 -146.6 211.8 -7.4 142 3017 0.15 0.00 0.00 0.000 6 0.051 0.000 2139 2228 3382

3325 -0.76 -146.6 240.9 -9.7 157 3330 0.12 2.67 0.00 0.000 4 0.095 0.071 2163 3638 3383

3365 -0.76 -146.6 244.7 -9.2 159 3369 0.00 2.58 0.00 0.000 6 0.000 0.051 2163 2231 3383

3692 -0.76 -146.6 272.2 -8.1 175 3696 0.00 2.62 0.00 0.000 4 0.000 0.063 2163 820 3383

3719 -0.76 -146.6 274.6 -8.9 176 3723 0.00 2.60 0.00 0.000 6 0.000 0.052 2163 2232 3382

4035 -0.76 -146.6 299.2 -8.0 191 4039 0.00 2.65 0.00 0.000 4 0.000 0.075 2163 3638 3382

4079 -0.76 -146.6 303.3 -9.2 193 4083 0.00 2.60 0.00 0.000 6 0.000 0.054 2163 2225 3382

4400 -0.76 -146.6 332.1 -9.0 209 4405 0.00 2.65 0.00 0.000 4 0.000 0.068 2163 820 3381

4429 -0.76 -146.6 334.7 -9.3 210 4434 0.00 2.62 0.00 0.000 6 0.000 0.054 2162 2238 3381

4745 -0.76 -146.6 360.5 -7.6 225 4749 0.00 2.67 0.00 0.000 4 0.000 0.079 2163 3640 3380

4795 -0.76 -146.6 364.3 -8.0 227 4799 0.00 2.60 0.00 0.000 6 0.000 0.056 2163 2227 3380

5110 -0.76 -146.6 385.8 -6.7 242 5115 0.00 2.67 0.00 0.000 4 0.000 0.071 2163 814 3379

5155 -0.82 -146.6 388.8 -6.8 244 5160 0.00 2.62 0.00 0.000 6 0.000 0.058 2163 2229 3379

5477 -0.82 -146.6 408.8 -6.1 260 5481 0.00 2.70 0.00 0.000 4 0.000 0.083 2162 3640 3377

5504 -0.82 -146.6 410.9 -7.2 261 5508 0.00 2.62 0.00 0.000 6 0.000 0.059 2163 2228 3377

5673 end dive: BOTTOM_OBSTACLE_DETECTED

state 5673 begin apogee

5680 -0.31 0.0 421.9 6.5 269 5810 0.47 0.00 127.38 0.978 6 0.091 0.000 2258 2228 2781

5811 end apogee: CONTROL_FINISHED_OK

state 5811 begin climb

5814 0.85 146.6 427.4 0.0 275 5950 1.20 2.85 126.35 0.960 4 0.081 0.081 2508 3647 2183

6210 0.78 146.6 415.6 6.4 293 6214 0.00 2.65 0.00 0.000 6 0.000 0.060 2508 2240 2183

6536 0.75 167.2 397.8 5.4 309 6557 0.00 0.00 18.77 0.908 6 0.000 0.000 2508 2240 2099

6866 0.77 194.0 379.6 5.3 325 6896 0.00 2.75 24.33 0.919 4 0.000 0.074 2508 829 1989

6936 0.78 199.3 375.5 5.9 328 6951 0.00 2.65 6.20 0.752 6 0.000 0.058 2508 2240 1968

7261 0.83 245.5 358.7 4.7 344 7307 0.00 2.80 40.25 0.935 4 0.000 0.072 2508 826 1780

7330 0.86 271.3 355.2 5.3 347 7361 0.00 2.67 23.70 0.904 6 0.000 0.058 2508 2244 1674

7671 0.93 273.4 337.2 5.9 364 7676 0.12 2.70 0.00 0.000 4 0.079 0.082 2533 3648 1673

7689 0.93 273.4 336.0 6.3 365 7694 0.00 2.65 0.00 0.000 6 0.000 0.062 2534 2234 1672

8016 0.93 273.4 311.1 7.6 381 8017 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2234 1672

8325 0.93 273.4 288.8 6.6 396 8329 0.00 2.67 0.00 0.000 4 0.000 0.074 2534 829 1672

8353 0.93 273.4 286.9 6.8 397 8357 0.00 2.62 0.00 0.000 6 0.000 0.058 2534 2240 1671

8668 0.94 288.0 267.9 5.6 412 8688 0.00 0.00 15.32 0.855 6 0.000 0.000 2534 2240 1606

8998 1.00 338.3 251.6 4.6 428 9046 0.00 2.75 43.25 0.885 4 0.000 0.072 2534 829 1401

9070 1.07 408.9 248.4 4.1 431 9137 0.15 2.65 59.55 0.874 6 0.081 0.056 2564 2241 1114

9447 1.16 487.2 231.4 3.9 450 9521 0.00 2.78 66.35 0.860 4 0.000 0.071 2564 824 793

9563 1.25 513.7 226.1 5.3 455 9595 0.17 2.65 23.98 0.821 6 0.087 0.056 2598 2241 685

9907 1.19 513.7 201.0 8.8 472 9911 0.00 2.70 0.00 0.000 4 0.000 0.071 2599 822 685

9992 1.19 513.7 191.9 10.8 476 9997 0.00 2.62 0.00 0.000 6 0.000 0.056 2599 2239 685

10319 1.13 513.7 153.3 12.5 492 10324 0.12 2.70 0.00 0.000 4 0.113 0.070 2577 826 685

10421 1.13 513.7 142.1 10.2 496 10427 0.00 2.60 0.00 0.000 6 0.000 0.054 2577 2240 685

10737 1.13 513.7 111.9 9.7 512 10741 0.00 2.67 0.00 0.000 4 0.000 0.068 2577 827 686

10821 1.13 513.7 103.5 10.5 516 10826 0.00 2.60 0.00 0.000 6 0.000 0.051 2577 2245 685

11151 1.13 513.7 63.8 12.5 532 11155 0.00 2.67 0.00 0.000 4 0.000 0.066 2577 827 686

11240 1.13 513.7 53.0 11.8 536 11244 0.00 2.58 0.00 0.000 6 0.000 0.049 2577 2242 686

11561 1.13 513.7 16.5 11.5 552 11565 0.00 2.67 0.00 0.000 4 0.000 0.067 2577 824 687

11634 1.19 513.7 8.7 10.4 555 11638 0.00 2.58 0.00 0.000 6 0.000 0.049 2577 2241 687

11720 end climb: SURFACE_DEPTH_REACHED

state 11720 begin surface coast

11742 end surface coast: CONTROL_FINISHED_OK

state 11742 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	340	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	-2100738	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	212408,6451.190,-1036.508,38,2.0,38,-11.4	TGT_NAME	NS
_CALLS	3	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.24	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-55.2	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	213535,6451.379,-1036.598,12,3.6,31,-11.4	MHEAD_RNG_PITCHd_Wd	159.4,86024,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.013183	ALTIM_BOTTOM_PING	401.2,30.4
SM_CCo	11764,24.30,0.609,1,0,509,557.32	_24V_AH	23.5,54.900
SM_GC	1.09,0.00,0.00,24.30,0.000,0.000,0.609,71,2241,509,-10.39,0.31,557.32	_10V_AH	10.1,27.057
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28468,560
TT8_MAMPS	0.023777	CAP_FILE_SIZE	102428,0
HUMID	1981	CFSIZE	260165632,239685632
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	47	GPS	100808,005338,6451.508,-1036.231,31,1.6,31,-11.4
ALTIM_TOP_PING	18.7,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	104.07	SBE_CT	415	24	234.11
Roll_motor	132	82	257.54	SBE_O2	378	19	169.22
VBD_pump_during_apogee	575	977	13223.98	WL_BB2F	416	105	1028.69
VBD_pump_during_surface	24	608	347.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	132.30	nil	0	0	0.00
Iridium_during_connect	90	160	341.54	nil	0	0	0.00
Iridium_during_xfer	248	223	1299.64
Transponder_ping	15	420	148.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.39
TT8	1072	19	214.56
LPSleep	8621	2	190.69
TT8_Active	712	19	142.57
TT8_Sampling	1399	39	562.74
TT8_CF8	678	45	313.84
TT8_Kalman	0	81	0.00
Analog_circuits	1472	12	178.45
GPS_charging	0	0	0.00
Compass	1345	8	108.70
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-120.95	0.000	2	0.000	0.000	69	2235	2881
151	-0.85	-146.6	3.8	-3.2	6	181	11.70	2.65	-12.27	0.000	4	0.172	0.068	2139	817	3380
287	-0.77	-146.6	19.9	-8.7	12	292	0.12	2.58	0.00	0.000	6	0.101	0.048	2162	2229	3381
614	-0.71	-146.6	47.0	-8.9	28	619	0.00	2.62	0.00	0.000	4	0.000	0.067	2162	3636	3382
648	-0.66	-146.6	50.4	-9.5	29	655	0.12	2.58	0.00	0.000	6	0.095	0.050	2187	2220	3382
966	-0.66	-146.6	79.2	-9.7	45	970	0.00	2.60	0.00	0.000	4	0.000	0.058	2187	813	3382
994	-0.73	-146.6	82.3	-10.6	46	998	0.00	2.60	0.00	0.000	6	0.000	0.048	2187	2235	3382
1310	-0.77	-146.6	111.6	-8.3	61	1315	0.12	2.62	0.00	0.000	4	0.045	0.067	2145	3638	3382
1374	-0.68	-146.6	117.5	-9.4	64	1379	0.17	2.55	0.00	0.000	6	0.087	0.049	2180	2230	3383
1702	-0.68	-146.6	135.2	-4.1	80	1706	0.00	2.60	0.00	0.000	4	0.000	0.057	2180	811	3382
1731	-0.74	-146.6	136.5	-4.6	81	1735	0.00	2.58	0.00	0.000	6	0.000	0.047	2180	2229	3382
2048	-0.74	-146.6	149.6	-5.2	96	2053	0.00	2.62	0.00	0.000	4	0.000	0.066	2180	3641	3382
2081	-0.74	-146.6	151.9	-6.5	97	2085	0.00	2.55	0.00	0.000	6	0.000	0.046	2180	2229	3382
2398	-0.74	-146.6	169.4	-5.5	112	2399	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2229	3382
2706	-0.79	-146.6	189.8	-6.6	127	2707	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2228	3382
3015	-0.84	-146.6	211.8	-7.4	142	3017	0.15	0.00	0.00	0.000	6	0.051	0.000	2139	2228	3382
3325	-0.76	-146.6	240.9	-9.7	157	3330	0.12	2.67	0.00	0.000	4	0.095	0.071	2163	3638	3383
3365	-0.76	-146.6	244.7	-9.2	159	3369	0.00	2.58	0.00	0.000	6	0.000	0.051	2163	2231	3383
3692	-0.76	-146.6	272.2	-8.1	175	3696	0.00	2.62	0.00	0.000	4	0.000	0.063	2163	820	3383
3719	-0.76	-146.6	274.6	-8.9	176	3723	0.00	2.60	0.00	0.000	6	0.000	0.052	2163	2232	3382
4035	-0.76	-146.6	299.2	-8.0	191	4039	0.00	2.65	0.00	0.000	4	0.000	0.075	2163	3638	3382
4079	-0.76	-146.6	303.3	-9.2	193	4083	0.00	2.60	0.00	0.000	6	0.000	0.054	2163	2225	3382
4400	-0.76	-146.6	332.1	-9.0	209	4405	0.00	2.65	0.00	0.000	4	0.000	0.068	2163	820	3381
4429	-0.76	-146.6	334.7	-9.3	210	4434	0.00	2.62	0.00	0.000	6	0.000	0.054	2162	2238	3381
4745	-0.76	-146.6	360.5	-7.6	225	4749	0.00	2.67	0.00	0.000	4	0.000	0.079	2163	3640	3380
4795	-0.76	-146.6	364.3	-8.0	227	4799	0.00	2.60	0.00	0.000	6	0.000	0.056	2163	2227	3380
5110	-0.76	-146.6	385.8	-6.7	242	5115	0.00	2.67	0.00	0.000	4	0.000	0.071	2163	814	3379
5155	-0.82	-146.6	388.8	-6.8	244	5160	0.00	2.62	0.00	0.000	6	0.000	0.058	2163	2229	3379
5477	-0.82	-146.6	408.8	-6.1	260	5481	0.00	2.70	0.00	0.000	4	0.000	0.083	2162	3640	3377
5504	-0.82	-146.6	410.9	-7.2	261	5508	0.00	2.62	0.00	0.000	6	0.000	0.059	2163	2228	3377
5673	end dive: BOTTOM_OBSTACLE_DETECTED
state	5673	begin apogee
5680	-0.31	0.0	421.9	6.5	269	5810	0.47	0.00	127.38	0.978	6	0.091	0.000	2258	2228	2781
5811	end apogee: CONTROL_FINISHED_OK
state	5811	begin climb
5814	0.85	146.6	427.4	0.0	275	5950	1.20	2.85	126.35	0.960	4	0.081	0.081	2508	3647	2183
6210	0.78	146.6	415.6	6.4	293	6214	0.00	2.65	0.00	0.000	6	0.000	0.060	2508	2240	2183
6536	0.75	167.2	397.8	5.4	309	6557	0.00	0.00	18.77	0.908	6	0.000	0.000	2508	2240	2099
6866	0.77	194.0	379.6	5.3	325	6896	0.00	2.75	24.33	0.919	4	0.000	0.074	2508	829	1989
6936	0.78	199.3	375.5	5.9	328	6951	0.00	2.65	6.20	0.752	6	0.000	0.058	2508	2240	1968
7261	0.83	245.5	358.7	4.7	344	7307	0.00	2.80	40.25	0.935	4	0.000	0.072	2508	826	1780
7330	0.86	271.3	355.2	5.3	347	7361	0.00	2.67	23.70	0.904	6	0.000	0.058	2508	2244	1674
7671	0.93	273.4	337.2	5.9	364	7676	0.12	2.70	0.00	0.000	4	0.079	0.082	2533	3648	1673
7689	0.93	273.4	336.0	6.3	365	7694	0.00	2.65	0.00	0.000	6	0.000	0.062	2534	2234	1672
8016	0.93	273.4	311.1	7.6	381	8017	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2234	1672
8325	0.93	273.4	288.8	6.6	396	8329	0.00	2.67	0.00	0.000	4	0.000	0.074	2534	829	1672
8353	0.93	273.4	286.9	6.8	397	8357	0.00	2.62	0.00	0.000	6	0.000	0.058	2534	2240	1671
8668	0.94	288.0	267.9	5.6	412	8688	0.00	0.00	15.32	0.855	6	0.000	0.000	2534	2240	1606
8998	1.00	338.3	251.6	4.6	428	9046	0.00	2.75	43.25	0.885	4	0.000	0.072	2534	829	1401
9070	1.07	408.9	248.4	4.1	431	9137	0.15	2.65	59.55	0.874	6	0.081	0.056	2564	2241	1114
9447	1.16	487.2	231.4	3.9	450	9521	0.00	2.78	66.35	0.860	4	0.000	0.071	2564	824	793
9563	1.25	513.7	226.1	5.3	455	9595	0.17	2.65	23.98	0.821	6	0.087	0.056	2598	2241	685
9907	1.19	513.7	201.0	8.8	472	9911	0.00	2.70	0.00	0.000	4	0.000	0.071	2599	822	685
9992	1.19	513.7	191.9	10.8	476	9997	0.00	2.62	0.00	0.000	6	0.000	0.056	2599	2239	685
10319	1.13	513.7	153.3	12.5	492	10324	0.12	2.70	0.00	0.000	4	0.113	0.070	2577	826	685
10421	1.13	513.7	142.1	10.2	496	10427	0.00	2.60	0.00	0.000	6	0.000	0.054	2577	2240	685
10737	1.13	513.7	111.9	9.7	512	10741	0.00	2.67	0.00	0.000	4	0.000	0.068	2577	827	686
10821	1.13	513.7	103.5	10.5	516	10826	0.00	2.60	0.00	0.000	6	0.000	0.051	2577	2245	685
11151	1.13	513.7	63.8	12.5	532	11155	0.00	2.67	0.00	0.000	4	0.000	0.066	2577	827	686
11240	1.13	513.7	53.0	11.8	536	11244	0.00	2.58	0.00	0.000	6	0.000	0.049	2577	2242	686
11561	1.13	513.7	16.5	11.5	552	11565	0.00	2.67	0.00	0.000	4	0.000	0.067	2577	824	687
11634	1.19	513.7	8.7	10.4	555	11638	0.00	2.58	0.00	0.000	6	0.000	0.049	2577	2241	687
11720	end climb: SURFACE_DEPTH_REACHED
state	11720	begin surface coast
11742	end surface coast: CONTROL_FINISHED_OK
state	11742	begin surface