Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 347 * 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 347 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 -2100910.5 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 -2100910.5

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 20 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 347 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 204307,6451.774,-1031.510,43,1.4,48,-11.3 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 1.11 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -54.8 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 204757,6451.833,-1031.627,14,1.5,14,-11.3 MHEAD_RNG_PITCHd_Wd 161.9,84698,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.015796 ALTIM_BOTTOM_PING 400.3,34.9

SM_CCo 11409,90.53,0.640,0,0,508,557.32 _24V_AH 23.5,55.923

SM_GC 1.26,0.00,0.00,90.53,0.000,0.000,0.640,68,2246,508,-10.41,0.45,557.32 _10V_AH 10.1,27.485

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28538,549

TT8_MAMPS 0.023777 CAP_FILE_SIZE 94801,0

HUMID 1934 CFSIZE 260165632,239370240

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 47 GPS 110808,000128,6450.782,-1031.459,32,3.0,51,-11.3

ALTIM_TOP_PING 18.5,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 165 98.69 SBE_CT 405 24 228.62

Roll_motor 137 82 267.03 SBE_O2 371 19 165.98

VBD_pump_during_apogee 460 976 10560.52 WL_BB2F 423 105 1045.22

VBD_pump_during_surface 90 639 1360.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.92 nil 0 0 0.00

Iridium_during_connect 32 160 120.85 nil 0 0 0.00

Iridium_during_xfer 118 223 621.86

Transponder_ping 15 420 148.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.16

TT8 1044 19 208.82

LPSleep 8338 2 184.45

TT8_Active 693 19 138.59

TT8_Sampling 1300 39 522.94

TT8_CF8 419 45 194.27

TT8_Kalman 0 81 0.00

Analog_circuits 1405 12 170.36

GPS_charging 0 0 0.00

Compass 1266 8 102.33

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 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.57 0.000 2 0.000 0.000 69 2245 2835

150 -0.85 -146.6 3.6 -3.1 6 182 11.52 2.65 -13.98 0.000 4 0.166 0.067 2139 814 3379

298 -0.77 -146.6 20.8 -9.4 12 304 0.12 2.55 0.00 0.000 6 0.099 0.046 2163 2230 3379

614 -0.71 -146.6 44.2 -7.0 28 615 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2230 3380

923 -0.66 -146.6 67.6 -8.2 43 928 0.12 2.62 0.00 0.000 4 0.097 0.055 2186 813 3380

952 -0.71 -146.6 69.8 -7.5 44 956 0.00 2.58 0.00 0.000 6 0.000 0.046 2186 2231 3380

1269 -0.71 -146.6 92.4 -7.9 59 1274 0.00 2.62 0.00 0.000 4 0.000 0.066 2186 3645 3381

1302 -0.71 -146.6 95.5 -8.8 60 1309 0.00 2.55 0.00 0.000 6 0.000 0.045 2187 2225 3382

1619 -0.75 -146.6 123.6 -9.1 76 1624 0.00 2.58 0.00 0.000 4 0.000 0.057 2186 818 3382

1660 -0.84 -146.6 127.5 -9.1 78 1665 0.17 2.55 0.00 0.000 6 0.041 0.045 2133 2230 3381

1987 -0.72 -146.6 161.1 -8.8 94 1992 0.15 2.62 0.00 0.000 4 0.086 0.065 2167 3642 3382

2037 -0.72 -146.6 164.7 -6.5 96 2042 0.00 2.55 0.00 0.000 6 0.000 0.046 2167 2230 3382

2354 -0.72 -146.6 177.8 -3.5 111 2355 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2230 3382

2663 -0.72 -146.6 189.0 -3.8 126 2667 0.00 2.65 0.00 0.000 4 0.000 0.068 2167 3643 3382

2697 -0.72 -146.6 190.5 -4.8 127 2703 0.00 2.55 0.00 0.000 6 0.000 0.048 2167 2233 3382

3013 -0.72 -146.6 207.4 -6.0 143 3017 0.00 2.62 0.00 0.000 4 0.000 0.070 2167 3636 3382

3052 -0.72 -146.6 209.9 -6.5 145 3056 0.00 2.55 0.00 0.000 6 0.000 0.049 2167 2225 3382

3379 -0.72 -146.6 233.2 -8.1 161 3384 0.00 2.62 0.00 0.000 4 0.000 0.061 2167 811 3382

3420 -0.76 -146.6 236.9 -9.5 163 3424 0.00 2.60 0.00 0.000 6 0.000 0.050 2167 2230 3382

3747 -0.76 -146.6 270.1 -11.1 179 3751 0.00 2.65 0.00 0.000 4 0.000 0.074 2167 3638 3382

3796 -0.76 -146.6 276.3 -12.5 181 3800 0.00 2.58 0.00 0.000 6 0.000 0.052 2167 2230 3382

4112 -0.76 -146.6 310.9 -10.7 196 4116 0.00 2.62 0.00 0.000 4 0.000 0.066 2167 819 3382

4146 -0.82 -146.6 314.5 -11.5 197 4152 0.00 2.60 0.00 0.000 6 0.000 0.054 2167 2233 3382

4461 -0.82 -146.6 344.2 -9.0 213 4466 0.00 2.65 0.00 0.000 4 0.000 0.078 2167 3637 3381

4507 -0.82 -146.6 348.1 -8.9 215 4511 0.00 2.60 0.00 0.000 6 0.000 0.057 2167 2229 3381

4829 -0.82 -146.6 373.5 -7.6 231 4833 0.00 2.65 0.00 0.000 4 0.000 0.071 2167 818 3380

4862 -0.89 -146.6 376.3 -8.3 232 4868 0.15 2.62 0.00 0.000 6 0.051 0.057 2126 2234 3380

5178 -0.79 -146.6 405.8 -8.8 248 5183 0.15 2.70 0.00 0.000 4 0.097 0.082 2158 3641 3378

5223 -0.79 -146.6 409.4 -7.6 250 5227 0.00 2.62 0.00 0.000 6 0.000 0.061 2158 2231 3378

5458 end dive: BOTTOM_OBSTACLE_DETECTED

state 5458 begin apogee

5465 -0.31 0.0 426.7 6.9 262 5600 0.50 0.00 128.20 0.976 6 0.098 0.000 2258 2231 2781

5601 end apogee: CONTROL_FINISHED_OK

state 5601 begin climb

5604 0.85 146.6 433.2 0.0 269 5739 1.17 2.78 127.30 0.955 4 0.077 0.071 2507 829 2181

5830 0.83 180.0 429.1 5.1 279 5865 0.00 2.65 29.95 0.918 6 0.000 0.056 2506 2246 2047

6188 0.86 209.4 410.4 5.2 297 6222 0.00 2.83 26.45 0.921 4 0.000 0.081 2506 3648 1927

6240 0.87 217.4 407.4 5.8 299 6254 0.00 2.67 8.85 0.815 6 0.000 0.061 2507 2237 1893

6584 0.91 247.7 389.4 5.2 316 6618 0.00 2.80 27.05 0.923 4 0.000 0.074 2506 830 1770

6637 0.98 279.4 386.5 5.1 318 6672 0.17 2.65 28.58 0.920 6 0.077 0.057 2544 2239 1642

7002 0.98 279.4 362.2 6.5 336 7006 0.00 2.72 0.00 0.000 4 0.000 0.083 2544 3649 1640

7024 0.98 279.4 360.7 6.3 337 7028 0.00 2.65 0.00 0.000 6 0.000 0.063 2544 2242 1640

7344 0.98 279.4 336.8 7.7 353 7345 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2242 1639

7653 0.98 279.4 312.0 8.6 368 7658 0.00 2.70 0.00 0.000 4 0.000 0.077 2544 828 1638

7682 0.98 279.4 309.5 8.7 369 7686 0.00 2.65 0.00 0.000 6 0.000 0.059 2544 2248 1638

7997 0.98 279.4 278.8 9.9 384 8002 0.00 2.70 0.00 0.000 4 0.000 0.082 2544 3651 1638

8041 0.98 279.4 274.0 11.0 386 8045 0.00 2.65 0.00 0.000 6 0.000 0.063 2544 2239 1638

8362 0.98 279.4 240.0 10.5 402 8367 0.00 2.67 0.00 0.000 4 0.000 0.073 2544 827 1637

8448 0.98 279.4 231.7 9.6 406 8452 0.00 2.62 0.00 0.000 6 0.000 0.056 2544 2240 1636

8774 0.98 279.4 206.4 7.1 422 8779 0.00 2.70 0.00 0.000 4 0.000 0.077 2544 3655 1636

8808 0.98 279.4 203.8 7.8 423 8815 0.00 2.62 0.00 0.000 6 0.000 0.059 2544 2237 1636

9124 0.98 279.4 182.7 6.3 439 9128 0.00 2.70 0.00 0.000 4 0.000 0.074 2544 3654 1636

9157 0.98 279.4 180.3 6.7 440 9163 0.00 2.62 0.00 0.000 6 0.000 0.057 2544 2234 1636

9473 0.99 293.4 160.8 5.6 456 9491 0.00 0.00 12.73 0.762 6 0.000 0.000 2544 2234 1582

9802 1.07 359.2 146.1 4.2 472 9865 0.00 2.72 54.67 0.792 4 0.000 0.064 2544 815 1316

9900 1.14 377.4 141.3 5.5 476 9924 0.17 2.62 16.48 0.737 6 0.073 0.048 2579 2243 1242

10244 1.05 377.4 110.6 10.6 493 10248 0.00 2.65 0.00 0.000 4 0.000 0.062 2579 829 1242

10288 1.00 377.4 105.3 11.3 495 10293 0.15 2.55 0.00 0.000 6 0.097 0.047 2550 2241 1242

10610 1.00 377.4 73.3 9.8 511 10614 0.00 2.65 0.00 0.000 4 0.000 0.061 2550 823 1242

10654 1.00 377.4 68.8 10.2 513 10659 0.00 2.58 0.00 0.000 6 0.000 0.046 2550 2242 1243

10975 1.00 377.4 36.6 10.1 529 10979 0.00 2.65 0.00 0.000 4 0.000 0.061 2550 824 1243

11038 1.00 377.4 30.3 10.1 532 11042 0.00 2.58 0.00 0.000 6 0.000 0.046 2550 2244 1243

11362 end climb: SURFACE_DEPTH_REACHED

state 11362 begin surface coast

11387 end surface coast: CONTROL_FINISHED_OK

state 11387 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	347	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	-2100910.5	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	204307,6451.774,-1031.510,43,1.4,48,-11.3	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	1.11	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-54.8	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	204757,6451.833,-1031.627,14,1.5,14,-11.3	MHEAD_RNG_PITCHd_Wd	161.9,84698,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.015796	ALTIM_BOTTOM_PING	400.3,34.9
SM_CCo	11409,90.53,0.640,0,0,508,557.32	_24V_AH	23.5,55.923
SM_GC	1.26,0.00,0.00,90.53,0.000,0.000,0.640,68,2246,508,-10.41,0.45,557.32	_10V_AH	10.1,27.485
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28538,549
TT8_MAMPS	0.023777	CAP_FILE_SIZE	94801,0
HUMID	1934	CFSIZE	260165632,239370240
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	47	GPS	110808,000128,6450.782,-1031.459,32,3.0,51,-11.3
ALTIM_TOP_PING	18.5,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	165	98.69	SBE_CT	405	24	228.62
Roll_motor	137	82	267.03	SBE_O2	371	19	165.98
VBD_pump_during_apogee	460	976	10560.52	WL_BB2F	423	105	1045.22
VBD_pump_during_surface	90	639	1360.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.92	nil	0	0	0.00
Iridium_during_connect	32	160	120.85	nil	0	0	0.00
Iridium_during_xfer	118	223	621.86
Transponder_ping	15	420	148.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.16
TT8	1044	19	208.82
LPSleep	8338	2	184.45
TT8_Active	693	19	138.59
TT8_Sampling	1300	39	522.94
TT8_CF8	419	45	194.27
TT8_Kalman	0	81	0.00
Analog_circuits	1405	12	170.36
GPS_charging	0	0	0.00
Compass	1266	8	102.33
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	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.57	0.000	2	0.000	0.000	69	2245	2835
150	-0.85	-146.6	3.6	-3.1	6	182	11.52	2.65	-13.98	0.000	4	0.166	0.067	2139	814	3379
298	-0.77	-146.6	20.8	-9.4	12	304	0.12	2.55	0.00	0.000	6	0.099	0.046	2163	2230	3379
614	-0.71	-146.6	44.2	-7.0	28	615	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2230	3380
923	-0.66	-146.6	67.6	-8.2	43	928	0.12	2.62	0.00	0.000	4	0.097	0.055	2186	813	3380
952	-0.71	-146.6	69.8	-7.5	44	956	0.00	2.58	0.00	0.000	6	0.000	0.046	2186	2231	3380
1269	-0.71	-146.6	92.4	-7.9	59	1274	0.00	2.62	0.00	0.000	4	0.000	0.066	2186	3645	3381
1302	-0.71	-146.6	95.5	-8.8	60	1309	0.00	2.55	0.00	0.000	6	0.000	0.045	2187	2225	3382
1619	-0.75	-146.6	123.6	-9.1	76	1624	0.00	2.58	0.00	0.000	4	0.000	0.057	2186	818	3382
1660	-0.84	-146.6	127.5	-9.1	78	1665	0.17	2.55	0.00	0.000	6	0.041	0.045	2133	2230	3381
1987	-0.72	-146.6	161.1	-8.8	94	1992	0.15	2.62	0.00	0.000	4	0.086	0.065	2167	3642	3382
2037	-0.72	-146.6	164.7	-6.5	96	2042	0.00	2.55	0.00	0.000	6	0.000	0.046	2167	2230	3382
2354	-0.72	-146.6	177.8	-3.5	111	2355	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2230	3382
2663	-0.72	-146.6	189.0	-3.8	126	2667	0.00	2.65	0.00	0.000	4	0.000	0.068	2167	3643	3382
2697	-0.72	-146.6	190.5	-4.8	127	2703	0.00	2.55	0.00	0.000	6	0.000	0.048	2167	2233	3382
3013	-0.72	-146.6	207.4	-6.0	143	3017	0.00	2.62	0.00	0.000	4	0.000	0.070	2167	3636	3382
3052	-0.72	-146.6	209.9	-6.5	145	3056	0.00	2.55	0.00	0.000	6	0.000	0.049	2167	2225	3382
3379	-0.72	-146.6	233.2	-8.1	161	3384	0.00	2.62	0.00	0.000	4	0.000	0.061	2167	811	3382
3420	-0.76	-146.6	236.9	-9.5	163	3424	0.00	2.60	0.00	0.000	6	0.000	0.050	2167	2230	3382
3747	-0.76	-146.6	270.1	-11.1	179	3751	0.00	2.65	0.00	0.000	4	0.000	0.074	2167	3638	3382
3796	-0.76	-146.6	276.3	-12.5	181	3800	0.00	2.58	0.00	0.000	6	0.000	0.052	2167	2230	3382
4112	-0.76	-146.6	310.9	-10.7	196	4116	0.00	2.62	0.00	0.000	4	0.000	0.066	2167	819	3382
4146	-0.82	-146.6	314.5	-11.5	197	4152	0.00	2.60	0.00	0.000	6	0.000	0.054	2167	2233	3382
4461	-0.82	-146.6	344.2	-9.0	213	4466	0.00	2.65	0.00	0.000	4	0.000	0.078	2167	3637	3381
4507	-0.82	-146.6	348.1	-8.9	215	4511	0.00	2.60	0.00	0.000	6	0.000	0.057	2167	2229	3381
4829	-0.82	-146.6	373.5	-7.6	231	4833	0.00	2.65	0.00	0.000	4	0.000	0.071	2167	818	3380
4862	-0.89	-146.6	376.3	-8.3	232	4868	0.15	2.62	0.00	0.000	6	0.051	0.057	2126	2234	3380
5178	-0.79	-146.6	405.8	-8.8	248	5183	0.15	2.70	0.00	0.000	4	0.097	0.082	2158	3641	3378
5223	-0.79	-146.6	409.4	-7.6	250	5227	0.00	2.62	0.00	0.000	6	0.000	0.061	2158	2231	3378
5458	end dive: BOTTOM_OBSTACLE_DETECTED
state	5458	begin apogee
5465	-0.31	0.0	426.7	6.9	262	5600	0.50	0.00	128.20	0.976	6	0.098	0.000	2258	2231	2781
5601	end apogee: CONTROL_FINISHED_OK
state	5601	begin climb
5604	0.85	146.6	433.2	0.0	269	5739	1.17	2.78	127.30	0.955	4	0.077	0.071	2507	829	2181
5830	0.83	180.0	429.1	5.1	279	5865	0.00	2.65	29.95	0.918	6	0.000	0.056	2506	2246	2047
6188	0.86	209.4	410.4	5.2	297	6222	0.00	2.83	26.45	0.921	4	0.000	0.081	2506	3648	1927
6240	0.87	217.4	407.4	5.8	299	6254	0.00	2.67	8.85	0.815	6	0.000	0.061	2507	2237	1893
6584	0.91	247.7	389.4	5.2	316	6618	0.00	2.80	27.05	0.923	4	0.000	0.074	2506	830	1770
6637	0.98	279.4	386.5	5.1	318	6672	0.17	2.65	28.58	0.920	6	0.077	0.057	2544	2239	1642
7002	0.98	279.4	362.2	6.5	336	7006	0.00	2.72	0.00	0.000	4	0.000	0.083	2544	3649	1640
7024	0.98	279.4	360.7	6.3	337	7028	0.00	2.65	0.00	0.000	6	0.000	0.063	2544	2242	1640
7344	0.98	279.4	336.8	7.7	353	7345	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2242	1639
7653	0.98	279.4	312.0	8.6	368	7658	0.00	2.70	0.00	0.000	4	0.000	0.077	2544	828	1638
7682	0.98	279.4	309.5	8.7	369	7686	0.00	2.65	0.00	0.000	6	0.000	0.059	2544	2248	1638
7997	0.98	279.4	278.8	9.9	384	8002	0.00	2.70	0.00	0.000	4	0.000	0.082	2544	3651	1638
8041	0.98	279.4	274.0	11.0	386	8045	0.00	2.65	0.00	0.000	6	0.000	0.063	2544	2239	1638
8362	0.98	279.4	240.0	10.5	402	8367	0.00	2.67	0.00	0.000	4	0.000	0.073	2544	827	1637
8448	0.98	279.4	231.7	9.6	406	8452	0.00	2.62	0.00	0.000	6	0.000	0.056	2544	2240	1636
8774	0.98	279.4	206.4	7.1	422	8779	0.00	2.70	0.00	0.000	4	0.000	0.077	2544	3655	1636
8808	0.98	279.4	203.8	7.8	423	8815	0.00	2.62	0.00	0.000	6	0.000	0.059	2544	2237	1636
9124	0.98	279.4	182.7	6.3	439	9128	0.00	2.70	0.00	0.000	4	0.000	0.074	2544	3654	1636
9157	0.98	279.4	180.3	6.7	440	9163	0.00	2.62	0.00	0.000	6	0.000	0.057	2544	2234	1636
9473	0.99	293.4	160.8	5.6	456	9491	0.00	0.00	12.73	0.762	6	0.000	0.000	2544	2234	1582
9802	1.07	359.2	146.1	4.2	472	9865	0.00	2.72	54.67	0.792	4	0.000	0.064	2544	815	1316
9900	1.14	377.4	141.3	5.5	476	9924	0.17	2.62	16.48	0.737	6	0.073	0.048	2579	2243	1242
10244	1.05	377.4	110.6	10.6	493	10248	0.00	2.65	0.00	0.000	4	0.000	0.062	2579	829	1242
10288	1.00	377.4	105.3	11.3	495	10293	0.15	2.55	0.00	0.000	6	0.097	0.047	2550	2241	1242
10610	1.00	377.4	73.3	9.8	511	10614	0.00	2.65	0.00	0.000	4	0.000	0.061	2550	823	1242
10654	1.00	377.4	68.8	10.2	513	10659	0.00	2.58	0.00	0.000	6	0.000	0.046	2550	2242	1243
10975	1.00	377.4	36.6	10.1	529	10979	0.00	2.65	0.00	0.000	4	0.000	0.061	2550	824	1243
11038	1.00	377.4	30.3	10.1	532	11042	0.00	2.58	0.00	0.000	6	0.000	0.046	2550	2244	1243
11362	end climb: SURFACE_DEPTH_REACHED
state	11362	begin surface coast
11387	end surface coast: CONTROL_FINISHED_OK
state	11387	begin surface